The existing surgical robots for laparoscopic surgery offer no or limited force feedback, and there are many problems for the traditional sensor-based solutions. This paper builds a teleoperation surgical system and validates the effectiveness of sensorless force feedback. The tool-tissue interaction force at the surgical grasper tip is estimated using the driving motor’s current, and fed back to the master robot with position-force bilateral control algorithm. The stiffness differentiation experiment and tumor detection experiment were conducted. In the stiffness differentiation experiment, 43 out of 45 pairs of ranking relationships were identified correctly, yielding a success rate of 96%. In the tumor detection experiment, 4 out of 5 participants identified the correct tumor location with force feedback, yielding a success rate of 80%. The proposed sensorless force-feedback system for robot-assisted laparoscopic surgery can help surgeons regain tactile information and distinguish between the healthy and cancerous tissue.

现有的用于腹腔镜手术的外科手术机器人没有或仅有有限的力反馈，并且传统的基于传感器的解决方案存在许多问题。本文构建了远程手术手术系统，并验证了无传感器力反馈的有效性。利用驱动电机的电流估算手术抓取器尖端处的工具与组织的相互作用力，并利用位置力双向控制算法将其反馈至主机器人。进行了刚度分化实验和肿瘤检测实验。在刚度差异实验中，正确识别了45对排名关系中的43对，成功率为96％。在肿瘤检测实验中，五分之四的参与者通过力反馈确定了正确的肿瘤位置，成功率为80％。