Novel force-sensing system for minimally invasive surgical instruments

Mastering proper force manipulation in minimally invasive surgery can take many years. Improper force control can lead to necrosis, infection, and scarring. This paper describes a novel system to measure, log, and display external forces at the distal end of minimally invasive surgical instruments in real-time. The system, comprising of a Force- Sensing Sleeve, Bluetooth electronics module, and an Android mobile application. A sensorized 5 mm minimally invasive surgical needle holder was evaluated for bending force accuracy, linearity, and repeatability in six directions. The results showed that the system responded linearly to forces at the tool-tip independent of direction with an RMS error of 0.088 N. Repeatability was affected by system noise potentially arising from temperature drift and thermal noise. Future work will include characterization of communication performance for force feedback in surgical training and assessment.