A Study on Detection and Localization of Different Sensors in Surgical Robots

Today's surgical robotic systems are utilizing a wide variety of sensors (force sensors, acceleration sensors, electromagnetic sensors, Hall sensors, etc.). Different types of sensors serve different purposes, and they make the system of the surgical robot larger and more precise and also increase the amount of available information for the surgery to give the healer good surgical conditions. This paper aims to analyze the effectiveness of sensors in 8 surgical robots. This text concludes that the sensors enable the surgical robot to perform the function of force detection and function of localization. For pressure detection, there are not only piezo resistors that form a full-bridge circuit but also sensors that mix piezo resistors with optical fibers. For localization, there are not only stereo cameras but also localization methods that use external markers. The combination of the two key functions enables the surgical robot to provide feedback on the magnitude and exact position of the force, making the surgery more precise and complete.