Methods of the force measurement for robotic surgical tools

Resolution of force feedback system in MIS (minimally invasive surgery) is at the stage of examinations and there has been no application in practice so far. The article presents existing prototypes of solutions differing with the method of the arrangement of sensors and the kind of applied measuring method. Also a method for the Polish surgery robot Robin Heart was proposed. The solution to this problem will deliver surgeons the chance of the estimation of the handled organ rigidity and will ensure the constant check-up when executing the operation by surgeons.