摘要
Force sensing is vital for situational awareness and safe interaction during minimally invasive surgery.Consequently,surgical robots with integrated force-sensing techniques ensure precise and safe operations.Over the past few decades,there has been considerable progress in force-sensing techniques for surgical robots.This review summarizes the existing electrically-and optically-based force sensors for surgical robots,including piezoresistive,piezoelectric,capacitive,intensity/phase-modulated,andfiber Bragg gratings.Their principles,applications,advantages,and limitations are also discussed.Finally,we summarize our conclusions regarding state-of-the-art force-sensing technologies for surgical robotics.
作者
高红岩
艾孝杰
孙正隆
陈卫东
高安柱
GAO Hongyan;AI Xiaojie;SUN Zhenglong;CHEN Weidong;GAO Anzhu(Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China;School of Science and Engineering,The Chinese University of Hong Kong,Shenzhen 518172,Guangdong,China)
基金
the National Natural Science Foundation of China(No.62003209)
the Natural Science Foundation of Shanghai(No.21ZR1429500)
the Shanghai Rising-Star Program(No.22QC1401400)
the Science and Technology Commission of Shanghai Municipality(No.20DZ2220400)
the Open Project Fund from the Shenzhen Institute of Artificial Intelligence and Robotics for Society,China(No.AC01202005012)。
