Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery

Abstract. Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. To overcome the drawbacks of conventional MIS robotic surgery systems with integrated haptic feedback play an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which are a necessary prerequisite for haptic feedback. 1