Design and Application of Multidimensional Force/Torque Sensors in Surgical Robots: A Review

作者全名："Li, Zhangyong; Li, Xi; Lin, Jinzhao; Pang, Yu; Yang, Dewei; Zhong, Lisha; Guo, Jinhong"

作者地址："[Li, Zhangyong; Li, Xi; Lin, Jinzhao; Pang, Yu; Yang, Dewei; Zhong, Lisha] Chongqing Univ Posts & Telecommun, Sch Commun & Informat Engn, Chongqing 400065, Peoples R China; [Li, Xi] Chongqing Med & Pharmaceut Coll, Fdn Dept, Chongqing 401331, Peoples R China; [Guo, Jinhong] Chongqing Med Univ, Coll Lab Med, Chongqing 400016, Peoples R China; [Guo, Jinhong] Shanghai Jiao Tong Univ, Sch Sensing Sci & Engn, Shanghai 200030, Peoples R China"

通信作者："Li, X (通讯作者)，Chongqing Univ Posts & Telecommun, Sch Commun & Informat Engn, Chongqing 400065, Peoples R China.; Li, X (通讯作者)，Chongqing Med & Pharmaceut Coll, Fdn Dept, Chongqing 401331, Peoples R China.; Guo, JH (通讯作者)，Chongqing Med Univ, Coll Lab Med, Chongqing 400016, Peoples R China.; Guo, JH (通讯作者)，Shanghai Jiao Tong Univ, Sch Sensing Sci & Engn, Shanghai 200030, Peoples R China."

来源：IEEE SENSORS JOURNAL

ESI学科分类：ENGINEERING

WOS号：WOS:001014626700002

JCR分区：Q1

影响因子：4.3

年份：2023

卷号：23

期号：12

开始页：12441

结束页：12454

文献类型：Review

关键词：Decoupling algorithms; interaction force; multidimensional force sensor; surgical instrument; surgical robot

摘要："Multidimensional force sensors have substantially improved the surgical quality of surgical robots. The purpose of this article is to provide a comprehensive review of the literature on the design and application of multidimensional force sensors in various surgical robots. The multidimensional force sensor can monitor the interaction force between the surgical instrument and the soft tissue, enabling doctors to obtain force feedback information in real time during surgery. This can help them improve the accuracy and safety of surgery. This review identifies the importance of sensor classification and performance parameters in surgery for multidimensional force measurement. This review focuses on the integrated design of force sensors and multidimensional force decoupling algorithms. In addition, a fiber Bragg grating multidimensional force sensor for puncture surgery was designed to validate the effectiveness of the proposed method. This review article provides a comprehensive classification and analysis of multidimensional force sensors for surgical robots, which will help researchers to understand the integrated design solutions for different surgical instruments and multidimensional force sensors."

基金机构："National Natural Science Foundation of China [62171073]; Natural Science Foundation of Chongqing, China [cstc2020jcyj-msxmX0702]; Science and Technology Research Program of the Chongqing Municipal Education Commission [KJQN202102806]"

基金资助正文："This work was supported in part by the National Natural Science Foundation of China under Grant 62171073; in part by the Natural Science Foundation of Chongqing, China, under Grant cstc2020jcyj-msxmX0702; and in part by the Science and Technology Research Program of the Chongqing Municipal Education Commission under Grant KJQN202102806. The associate editor coordinating the review of this article and approving it for publication was Prof. Gijs J. M. Krijnen. (Corresponding authors: Jinhong Guo; Xi Li.)"