触觉技术
侵入性外科
机器人
计算机科学
机械人手术
系统工程
领域(数学)
工程类
模拟
人工智能
医学
外科
数学
纯数学
作者
Wenjie Wang,Jie Wang,Yang Luo,Xiaohua Wang,Huajian Song
出处
期刊:IEEE Transactions on Haptics
[Institute of Electrical and Electronics Engineers]
日期:2023-10-01
卷期号:16 (4): 702-718
被引量:2
标识
DOI:10.1109/toh.2023.3329172
摘要
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.
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