title: Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery.
abstract: BACKGROUND
  Force sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions.
  
  
  METHODS
  Operating forces were calculated according to cable tension. Mathematical models of the force-sensing system were established. A force-sensing instrument was designed and fabricated. A signal collection and processing system was constructed.
  
  
  RESULTS
  The presented approach can avoid the constraints of space limits, sterilization requirements and friction introduced by the transmission parts behind the instrument wrist. Test results showed that the developed instrument has a 0.03 N signal noise, a 0.05 N drift, a 0.04 N resolution and a maximum error of 0.4 N. The validation experiment indicated that the operating and grasping forces can be effectively sensed.
  
  
  CONCLUSIONS
  The developed force-sensing system can be used in minimally invasive robotic surgery to construct a force-feedback system.
authors.affiliation: Beijing Institute of Spacecraft System Engineering, People's Republic of China.
authors.forename: Chao
authors.initials: C
authors.lastname: He
authors.forename: Shuxin
authors.initials: S
authors.lastname: Wang
authors.forename: Hongqiang
authors.initials: H
authors.lastname: Sang
authors.forename: Jinhua
authors.initials: J
authors.lastname: Li
authors.forename: Linan
authors.initials: L
authors.lastname: Zhang
mesh_terms: D001696:Biomechanical Phenomena; D002138:Calibration; D006801:Humans; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D008962:Models, Theoretical; D015203:Reproducibility of Results; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D012371:Robotics / Q000379:methods*; D013314:Stress, Mechanical
keywords: cable-driven; force sensing; instrument; minimally invasive surgery