Enabling Force Feedback from the Tool Tip

Haptic feedback based on force sensing is key to the future of robotic surgery. Capturing forces precisely at the point of interaction remains a challenge. In a collaboration between Resense and Case Western Reserve University, shaft‑integrated sensing makes these forces measurable, enabling accurate 6‑axis feedback directly at the tool tip, with errors below 5%.

This article highlights how this approach is realized, from integration into a surgical instrument to validated data, and why it marks an important step toward practical, force‑aware robotic systems.

By measuring forces directly at the tool–tissue interface and combining miniaturized sensing with AI‑based estimation, the collaboration demonstrates a precise and reproducible approach to force‑aware telesurgery, advancing data‑driven surgical robotics and enabling improved force feedback in existing systems.

Mechanical Integration: 6-axis F/T Sensor at the Shaft

A key aspect of this project is the integration of the 6‑axis F/T Sensor directly into the shaft of a DaVinci Research Kit (RAMIS) instrument. The hollow‑shaft design enables internal cable routing without increasing the outer diameter, allowing seamless integration via application‑specific adapter plates while preserving the original tool geometry and kinematics.

Within this setup, the sensor is positioned close to the distal end, enabling force measurement near the tool–tissue interaction point without modifying the external workflow. The project demonstrates that high-precision shaft-level force sensing can be integrated into an existing robotic platform with minimal mechanical intrusion. This provides a practical and scalable approach for force-aware surgical systems.

Promising Results for Force Feedback in Surgical Robotics

In the joint project of Resense and Case Western Reserve University, shaft‑integrated force sensing within a RAMIS surgical instrument enables highly accurate 6‑axis force measurement directly at the tool. Validated against a reference sensor, the system achieves force estimation errors below 5% and outperforms established benchmark algorithms.

By combining miniaturized F/T sensing with AI‑based estimation, the project delivers reliable tool–tissue interaction data without altering the external workflow of the DaVinci Research Kit. The results demonstrate that precise, shaft‑level force feedback can be realized within an existing robotic platform.

These findings position shaft‑integrated sensing as a concrete and scalable step toward restoring haptic feedback in robotic surgery. Building on this approach, Resense develops customized, application‑specific sensor solutions in close collaboration with customers, enabling the integration of force feedback into a wide range of robotic instruments tailored to individual system requirements.