Multi-Axis Force Sensing in Robotic Minimally Invasive Surgery With No Instrument Modification

TL;DR

This paper introduces a new multi-axis force sensing method for robotic minimally invasive surgery that requires no instrument modification, using a novel optical sensor and a specialized cannula design to accurately measure forces and torques.

Contribution

It presents a novel 6-axis optical force sensor and a new cannula design enabling force measurement without modifying surgical instruments.

Findings

Sensor accurately measures lateral forces and moments.

Calibration achieved with a neural network model.

Validated within desired resolution and accuracy.

Abstract

This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force sensor, with local signal conditioning and digital electronics, was mounted onto the proximal shaft of a da Vinci EndoWrist instrument. A new cannula design comprising an inner tube and an outer tube was proposed. The inner tube is attached to the cannula interface to the robot base through a compliant leaf spring with adjustable stiffness. It allows bending of the instrument shaft due to the tip forces. The outer tube mechanically filters out the body forces from affecting the instrument bending behavior. A mathematical model of the sensing principle was developed and used for model-based calibration. A data-driven calibration based on a shallow neural network architecture comprising a single 5-nodes hidden layer and a 5x1 output layer is discussed. Extensive testing was conducted to validate that the sensor can successfully measure the lateral forces and moments and the axial torque applied to the instruments distal end within the desired resolution, accuracy, and range requirements.