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

In this article, a primary-secondary 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 3-D microforce sensor with high sensitivity and linearity is designed and integrated into the end gripper of the secondary manipulator. Consequently, real-time 3-D interaction force between the gripper and tissues can be directly detected. The primary 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 microsensor 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 primary-secondary robotic system reduces the maximum clamping force from 1.2 to 0.8 N, and the average clamping force from 0.8 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 3-D operating force within 2 N, ensuring the safety of MIS procedures.