Instrument–tissue interaction forces in minimally invasive surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons. Force and tactile sensing is lost in many robot-assisted surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.

微创手术 (MIS) 中的仪器-组织相互作用力提供有价值的信息，可用于提供触觉感知、监测组织创伤、制定培训指南以及评估新手和专家外科医生的技能水平。在许多机器人辅助手术 (RAS) 系统中，力和触觉感应都丢失了。因此，许多研究人员专注于通过传感系统和估计算法来恢复这些信息。本文对当前针对 RAS 的力传感研究进行了全面系统的回顾，更一般地说，是锁孔内窥镜检查，其中器械通过小切口进入人体。2011 年 1 月至 2020 年 5 月期间发表的文章将按照系统评价和元分析的首选报告项目 (PRISMA) 指南进行考虑。