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Abstract <p>Thyroid nodules often necessitate surgical intervention, where traditional retractors may cause muscle damage due to prolonged use. This study introduces a slippage-suppression robotic system for thyroid surgery, featuring a conformal force and torque sensing module integrated with a robotic manipulator for compliant force control. The system features five-dimensional (5DoF) contact force sensing, achieving accurate force measurement with a relative error of <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\le 1.5\%\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mo>≤</mo> <mn>1.5</mn> <mo>%</mo> </mrow> </math></EquationSource> </InlineEquation>. Experiments performed on phantoms and porcine tissues demonstrate the system’s ability to suppress slippage effectively, ensure reliable force feedback, and improve safety and precision during thyroid surgery.</p> Graphical abstract <p></p>

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Slippage-suppression robot-assisted retraction for thyroid surgery with 5DoF contact force sensing

  • 期刊论文

  • 发表日期：

    2025年7月24日

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  • Shouhui Deng,
  • Haojun Li,
  • Yuxuan Lin,
  • Aiguo Song,
  • Lifeng Zhu

摘要

Abstract

Thyroid nodules often necessitate surgical intervention, where traditional retractors may cause muscle damage due to prolonged use. This study introduces a slippage-suppression robotic system for thyroid surgery, featuring a conformal force and torque sensing module integrated with a robotic manipulator for compliant force control. The system features five-dimensional (5DoF) contact force sensing, achieving accurate force measurement with a relative error of \(\le 1.5\%\) ≤ 1.5 % . Experiments performed on phantoms and porcine tissues demonstrate the system’s ability to suppress slippage effectively, ensure reliable force feedback, and improve safety and precision during thyroid surgery.

Graphical abstract