Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of RMIS, with a particular focus on direct and indirect force sensing. In this survey, the relevant literature on various sensing principles, haptic sensor design standards, and sensing technologies between 2000 and 2022 is reviewed. This survey can also serve as a roadmap for future developments by identifying the shortcomings of the field and discussing the emerging trends in force sensing methods.

中文翻译：

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机器人辅助微创手术力传感技术综述


微创手术 (MIS) 通常用于一些机器人辅助手术 (RAS) 系统。然而，许多 RAS 缺乏手术工具的强度和触觉。因此，研究人员在机器人辅助微创手术（RMIS）中开发了各种力传感技术。本文对 RMIS 领域的力传感方法进行了系统的分类和回顾，特别关注直接和间接力传感。本次调查回顾了2000年至2022年间各种传感原理、触觉传感器设计标准和传感技术的相关文献。这项调查还可以通过确定该领域的缺点并讨论力传感方法的新兴趋势来作为未来发展的路线图。