Force sensing in robot-assisted keyhole endoscopy: A systematic survey

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