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.
翻译：小型侵入性外科手术中的仪器问题互动力量提供了宝贵的信息,可用于提供偶然感知,监测组织创伤,制定培训准则,并评估新科医生和专科外科医生的技能水平。许多机器人辅助外科手术系统丧失了力量和触摸感应,因此,许多研究人员侧重于通过遥感系统和估计算法来恢复这一信息。本文章全面系统地审查了目前针对RAS以及更一般地包括关键孔内径镜的武力感应研究,其中仪器通过小切片进入身体。2011年1月至2020年5月出版的文章,根据系统审查和元和分析报告项目指南,考虑了2011年1月至2020年5月出版的文章。文献搜索产生了110份关于不同武力估计算法和遥感技术、传感器设计规格和制造技术的文件。
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