In this survey, we analyse some of the main design solutions of force-torque sensors for surgical instruments with a critical approach, including design and application constraints: robotic surgery environment, surgeon perception, general design architectures of force-torque sensors and force-torque sensors used in robot-assisted minimally invasive surgery.
Force–Torque Sensors for Minimally Invasive Surgery Robotic Tools: An Overview
Giovanni Gerardo Muscolo
;Paolo Fiorini
2023-01-01
Abstract
In this survey, we analyse some of the main design solutions of force-torque sensors for surgical instruments with a critical approach, including design and application constraints: robotic surgery environment, surgeon perception, general design architectures of force-torque sensors and force-torque sensors used in robot-assisted minimally invasive surgery.
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