Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey

TL;DR

This systematic survey reviews recent advancements in force sensing technologies and algorithms for robot-assisted keyhole endoscopy, highlighting their importance in improving surgical safety and skill assessment.

Contribution

It provides a comprehensive overview of force sensing research in RAS and keyhole endoscopy from 2011 to 2020, including algorithms, sensor designs, and fabrication methods.

Findings

110 papers reviewed on force estimation algorithms

Diverse sensing technologies and sensor designs analyzed

Identifies gaps and future directions in force sensing research

Abstract

Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons.Force and tactile sensing is lost in many Robot-Assisted Surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.