2019
Optical Force Sensing In Minimally Invasive Robotic Surgery
ICRA 2019poster
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…