Modular Instrument for a Haptically-Enabled Robotic Surgical System (HeroSurg).

To restore the sense of touch in robotic surgical systems, a modular force feedback-enabled laparoscopic instrument is developed and employed in a robotic-assisted minimally invasive surgical system (HeroSurg). Strain gauge technology is incorporated into the instrument to measure tip/tissue lateral interaction forces. The modularity feature of the proposed instrument makes it interchangeable between various tip types of different functionalities, e.g., cutter, grasper, and dissector, without losing force sensing capability. Series of experiments are conducted and results are reported to evaluate force sensing capability of the instrument. The results reveal mean errors of 1.32 g and 1.98 degrees in the measurements of tip/tissue load magnitude and direction across all experiments, respectively.