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Force sensing plays an important\udrole in minimally invasive surgery (MIS). Force sensing makes it possible for\udthe surgeon to feel the tissue properties and apply an appropriate level\udforce and avoid tissue damage. The micromanipulators are compact and to allow\udappropriate disinfection, it is inappropriate to integrate sensors at the end\udof the micromanipulator. In this study, a new asymmetric cable-driven type of\udmicromanipulator for a surgical robot was designed, and a joint angle\udestimator (JAE) was designed based on the dynamical model of the single\udcable-driven joint. Closed-loop control of the joint angle was carried out by\udregarding the JAE output as the feedback signal. On this basis, an external\udforce estimator was designed using a disturbance observer (DOB). The\udexperimental results show an average accuracy of the joint angle estimator of\udabout −0.150°, with excellent control precision, the largest\udabsolute error of about 0.95°, and an average error of\ud0.175°. The accuracy of the force estimator was at a high level\udduring static loading. The estimated accuracy was 94 % at external force\udis greater than 1 N, and the estimated accuracy was 82 % for an external\udforce of 0.3 N. These results predict that force sensing of a cable-driven\udmicromanipulator in this paper can used to realize the micromanipulator's\udforce feedback of a minimally invasive surgical robot

Toward force detection of a cable-driven micromanipulator for a surgical robot based on disturbance observer