# Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey

arXiv: https://arxiv.org/abs/2103.11123 · HTML: https://mlsanity.com/paper/2103.11123/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Mar 2021.

## Built on by (most cited first, 1 of 1)

- [Image-to-Force Estimation for Soft Tissue Interaction in Robotic-Assisted Surgery Using Structured Light](https://mlsanity.com/paper/2501.08593/) (2025)

## Abstract (arXiv)

Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice and expert surgeons.Force and tactile sensing is lost in many Robot-Assisted Surgery (RAS) systems. Therefore, many researchers have focused on recovering this information through sensing systems and estimation algorithms. This article provides a comprehensive systematic review of the current force sensing research aimed at RAS and, more generally, keyhole endoscopy, in which instruments enter the body through small incisions. Articles published between January 2011 and May 2020 are considered, following the Preferred Reporting Items for Systematic reviews and Meta-Analyses (PRISMA) guidelines. The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.