3 accepted papers
This letter presents a novel approach to multi-axis force-sensing in laparoscopic surgery. It requires no modification to the surgical instrument and is therefore adaptable to different surgical tools. The sensing approach relies on a novel cannula design and utilizes a very high-resolution transduc
We integrated a force/torque sensor into the wrist of the Master Tool Manipulator (MTM) of the da Vinci Standard Surgical system. The added sensor can be used to monitor the surgeon interaction forces and to improve the haptic experience. The proposed mechanical design is expected to have little eff
This paper evaluates the feasibility of a novel optical sensing concept to measure forces applied at the tip of daVinci EndoWrist instruments. An optical slit is clamped onto the instrument shaft, in-line with an infrared LED-bicell pair. Deflection of the shaft moves the slit with respect to the LE…