Most current surgical robotic systems lack the ability to sense tool/tissue interaction forces,
which motivates research in methods to estimate these forces from other available …

Due to the recent trend of the application of robots and other mechatronic devices to human
life support, the force control draws more attention than ever. However, to use force sensors …

The da Vinci surgical robot introduced remote control of instruments, providing surgeons
with increased dexterity and precision. A major drawback, however, is the loss of sense of …

Due to the narrow space and a harsh chemical environment in the sterilization processes for
the end-effector of surgical robots, it is difficult to install and integrate suitable sensors for the …

For surgical robot, an independent contact sensing system can always provide intuitive
operation reference in parallel to non-contact information. As one of them, force sensing …

In this paper, we propose a forceps grasper using a soft actuator that can estimate grasping
force. The grasper consists of a small cylinder and a slider-crank mechanism embedded at …

In this paper, we propose a method for the estimation of the interaction forces between the
motorized system and object through the visual and electric information. In particular, we …

Considering the urgent need of force feedback and control for laparoscope surgical robot, it
is important to predict and estimate the grasping force of end-effector during the surgical …

In robot assisted laparoscopic surgery using a commercialized robot, such as the da Vinci,
surgeons have encountered problems, such as organ impairment, because they depend …

In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic
instrument tip force/torques in robotic-assisted minimally invasive surgery systems is …