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Effective force modulation during tissue manipulation is important forensuring safe robot-assisted minimally invasive surgery (RMIS). Strictrequirements for in-vivo distal force sensing have led to prior sensor designsthat trade off ease of manufacture and integration against force measurementaccuracy along the tool axis. These limitations have made collectinghigh-quality 3-degree-of-freedom (3-DoF) bimanual force data in RMISinaccessible to researchers. We present a modular and manufacturable 3-DoFforce sensor that integrates easily with an existing RMIS tool. We achieve thisby relaxing biocompatibility and sterilizability requirements while utilizingcommercial load cells and common electromechanical fabrication techniques. Thesensor has a range of +-5 N axially and +-3 N laterally with average root meansquare errors(RMSEs) of below 0.15 N in all directions. During teleoperatedmock tissue manipulation tasks, a pair of jaw-mounted sensors achieved averageRMSEs of below 0.15 N in all directions. For grip force, it achieved an RMSE of0.156 N. The sensor has sufficient accuracy within the range of forces found indelicate manipulation tasks, with potential use in bimanual haptic feedback androbotic force control. As an open-source design, the sensors can be adapted tosuit additional robotic applications outside of RMIS.

A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research