Hall Effect-Based Tactile Force Detection Sensor for Robot-Assisted Minimally Invasive Surgery

2026-10-07

AI Summary

This study addresses the loss of tactile feedback caused by mechanical dissection during robot-assisted minimally invasive surgery. To overcome this limitation, we propose a novel miniaturized Hall-effect sensor array that integrates millimeter-scale sensors directly into the grasping surface of surgical forceps. By combining an elastomeric contact layer with a six-degree-of-freedom parallel robot calibration technique, the proposed system achieves high-precision synchronous detection of both normal and shear forces. Experimental evaluations demonstrate that this approach yields a low average root mean square error (RMSE) of 2.133 kPa. Furthermore, ex vivo experiments on porcine tissue successfully identify critical intraoperative events, including tissue traction and slippage. This work provides an innovative solution for high-fidelity tactile sensing on surgical instrument surfaces, offering significant potential to enhance haptic perception in robotic surgery.

Abstract

Robotic minimally invasive surgery has revolutionized surgical practice. However, as the surgeons are mechanically separated from the surgical tools, loss of tactile feedback occurs. We present a compact force sensor with three, millimeter scale sensing elements (taxels) that can be affixed to the grasping face of a robotic surgical tool. The sensor features a miniaturized design using Hall effect sensors and magnets embedded in a deformable elastomer contact layer. Sensor calibration is achieved with a 6 degree of freedom (DoF) parallel robot. Each taxel can detect applied normal and shear forces with average RMSE of 2.133 kPa. The calibrated sensor was validated on phantom and ex vivo porcine tissue, demonstrating tactile sensing during retraction as well as slip. This work introduces a small-scale Hall effect based tactile sensor, enabling sensing for force-sensitive robotic surgical applications.

Problem

• robot-assisted minimally invasive surgery
• tactile feedback
• force sensing
• loss of haptic perception

Innovation

• Hall effect sensor
• tactile sensing
• minimally invasive surgery
• force detection
• miniaturized sensor