A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2023-11-03 DOI:10.1109/TOH.2023.3329172

Wenjie Wang;Jie Wang;Yang Luo;Xiaohua Wang;Huajian Song

引用次数: 0

Abstract

Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of RMIS, with a particular focus on direct and indirect force sensing. In this survey, the relevant literature on various sensing principles, haptic sensor design standards, and sensing technologies between 2000 and 2022 is reviewed. This survey can also serve as a roadmap for future developments by identifying the shortcomings of the field and discussing the emerging trends in force sensing methods.

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机器人辅助微创手术中的力传感技术综述。

微创手术（MIS）通常用于一些机器人辅助手术（RAS）系统。然而，许多RAS缺乏手术工具的强度和触感。因此，研究人员在机器人辅助微创手术（RMIS）中开发了各种力传感技术。本文对RMIS领域的力传感方法进行了系统的分类和综述，特别关注直接和间接力传感。在这项调查中，回顾了2000年至2022年间关于各种传感原理、触觉传感器设计标准和传感技术的相关文献。这项调查还可以作为未来发展的路线图，通过确定该领域的缺点和讨论力传感方法的新趋势。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.