An External Method of Estimating Lateral Forces for a Da Vinci Xi Surgical Instrument

This study presents a comprehensive investigation into the development of an external method for estimating lateral forces at the custom trocar clamp of the da Vinci Xi surgical robot arm. The research focuses on the mechanical, electrical, and software design aspects involved in data collection, detailing the meticulous attention paid to strain gauge placement and the integration of custom strain modules. A detailed analysis of the collected data is conducted, emphasizing the importance of data preprocessing techniques such as alignment, truncation, and smoothing. The study highlights the challenges encountered and the strategies employed to overcome them, leading to the derivation of discrete-time state-space models tailored to voltage-force and strain-force data. The performance of various model forms and identification methods, including N4SID and SSEST, is evaluated, with training fit reaching 95.49% and validation fit at 93.55%, demonstrating high accuracy and generalization capability. The findings underscore the importance of considering feedthrough components in model development, and the study contributes valuable insights into the integration of force sensing technologies into surgical robotics. These advancements pave the way for enhanced surgical precision and safety, ultimately benefiting patients and healthcare providers alike.