An Integrated 3-D MEMS Force Sensing and Feedback System for Robot-Assisted Minimally Invasive Surgery

摘要

In this paper, a master-slave robotic system with force sensing and feedback function is developed to address the critical issue of lacking haptic information in minimally invasive surgery (MIS). A three-dimensional (3D) micro force sensor with high sensitivity and linearity is designed and integrated into the end gripper of the slave manipulator. Consequently, real-time 3D interaction force between the gripper and tissues can be directly detected. The master manipulator is equipped with a specially designed force feedback grasper. During clamping and suturing operations, the operator can perceive the feedback interaction force from the micro sensor in the end gripper, allowing for timely adjustment of clamping force. Experimental results demonstrate that the incorporation of force sensing and feedback control in the master-slave robotic system reduces the maximum clamping force from 1.2 N to 0.8 N, and the average clamping force from 0.8 N to 0.55 N, representing a significant reduction of about 20%-50%. In needle holding and knotting experiments for suturing, the operator can monitor the real-time 3D operating force within 2 N, ensuring the safety of MIS procedures.