Review of Force Sensing and Error Analysis of Minimally Invasive Surgical Instruments
CHEN Yu1, LI Shuai1, FENG Qingmin2, LIU Shenglin2, FU Yan3, XIE Qinlan1
1. School of Biomedical Engineering, South-Central Minzu University, Wuhan Hubei 430074, China; 2. Biomedical Engineering
Laboratory, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan Hubei 430022, China;
3. School of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan Hubei 430074, China
Abstract：Force sensing plays an extremely important role in the process of minimally invasive surgery, but the biggest disadvantage
of minimally invasive surgical instruments is the lack of force perception. In order to promote the clinical application of minimally
invasive surgical instrument force sensing technology, aiming at the existing force sensing methods, the force sensing technology
of minimally invasive surgical instruments is divided into three categories: external body sensing, ontological sensing and dynamic
sensing. The basic principles of these three force sensing methods are analyzed, and their advantages and limitations are discussed,
and error analysis is carried out, in order to put forward solutions and forecast the development trend of force sensing technology for
minimally invasive surgical instruments.
陈钰1，李帅1，冯庆敏2，刘胜林2，付艳3，谢勤岚1. 微创手术器械力感知及误差分析研究进展[J]. 中国医疗设备, 2023, 38(2): 158-164.
CHEN Yu1, LI Shuai1, FENG Qingmin2, LIU Shenglin2, FU Yan3, XIE Qinlan1. Review of Force Sensing and Error Analysis of Minimally Invasive Surgical Instruments. China Medical Devices, 2023, 38(2): 158-164.
