Sharif Digital Repository

Measurement of laparoscopic instrument tip forces plays an important role in the research area of controlling robotic surgeries. The first attempts in this topic were estimating the tip forces using distal force sensors, but these methods were too expensive and required sterilization. On the other hand, proximal sensors do not suffer from the distal sensors problems, however, they were not used to estimate the instrument tip force in previous works. In this regard, the effectiveness of proximal sensors in this project was investigated. To do so, firstly, an appropriate plan for estimating the forces of the laparoscopic instrument’s tip was found using a proximal force sensor, located at the...