Design and Application of Multidimensional Force/Torque Sensors in Surgical Robots: A Review

Multidimensional force sensors have substantially improved the surgical quality of surgical robots. The purpose of this article is to provide a comprehensive review of the literature on the design and application of multidimensional force sensors in various surgical robots. The multidimensional force sensor can monitor the interaction force between the surgical instrument and the soft tissue, enabling doctors to obtain force feedback information in real time during surgery. This can help them improve the accuracy and safety of surgery. This review identifies the importance of sensor classification and performance parameters in surgery for multidimensional force measurement. This review focuses on the integrated design of force sensors and multidimensional force decoupling algorithms. In addition, a fiber Bragg grating multidimensional force sensor for puncture surgery was designed to validate the effectiveness of the proposed method. This review article provides a comprehensive classification and analysis of multidimensional force sensors for surgical robots, which will help researchers to understand the integrated design solutions for different surgical instruments and multidimensional force sensors.