A force-sensing retractor for robot-assisted transoral surgery.
Lifeng ZhuShuyan YangJiangwei ShenCheng WangAiguo SongPublished in: International journal of computer assisted radiology and surgery (2022)
The experimental results demonstrate the potential of the proposed retractor in robot-assisted surgery. The retractor supports the provision of force feedback in an interactive manipulation mode and produces haptic information for the remote side in a teleoperated surgical robot system.