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Related Experiment Video

Updated: Mar 25, 2026

A Probing Device for Quantitatively Measuring the Mechanical Properties of Soft Tissues during Arthroscopy

A Probing Device for Quantitatively Measuring the Mechanical Properties of Soft Tissues during Arthroscopy

Published on: May 1, 2020

A force-sensing surgical tool with a proximally located force/torque sensor.

W Schwalb¹, B Shirinzadeh¹, J Smith²

¹Robotics and Mechatronics Research Laboratory, Department of Mechanical Engineering, Monash University, Clayton, 3800, Australia.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|February 27, 2016

Summary

This study introduces a novel force-feedback enabled surgical robotic system. The developed surgical tool achieves high force sensing accuracy, enhancing safety in robotic surgery.

Keywords:

force-feedback enabled surgical robot force-sensing surgical tool minimally invasive surgery surgical robotics

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Last Updated: Mar 25, 2026

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Published on: May 1, 2020

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Force and Position Control in Humans - The Role of Augmented Feedback

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Published on: June 19, 2016

Area of Science:

Robotics
Surgical Technology
Biomechanics

Background:

Robotic surgery adoption is rising due to enhanced precision and dexterity.
Current robotic systems often lack crucial force-feedback capabilities.
Force feedback is anticipated to improve surgeon performance and patient safety.

Purpose of the Study:

To develop and evaluate a force-feedback enabled surgical robotic system.
To detail a novel force-sensing surgical tool for robotic applications.
To address the limitations of existing robotic surgical tools.

Main Methods:

A force-feedback enabled surgical robotic system was designed and implemented.
A novel force-sensing surgical tool featuring a proximally located force/torque sensor was developed.
The sensor's proximal placement avoids miniaturization and sterilizability issues associated with distal sensors.

Main Results:

Experimental validation demonstrated high force sensing accuracy.
Achieved force sensing accuracy showed errors less than 0.09 N.
The developed tool achieved an outer diameter of 12 mm.

Conclusions:

The feasibility of a force-sensing surgical tool with a proximal sensor is confirmed.
The developed system offers potential for improved safety and control in robotic surgery.
Future work aims to reduce the tool's outer diameter to 10 mm.