Smart Sensing Systems for Surgical Tool-points

In this paper, sensing techniques are described to determine the state of interaction between tissues and tool-points with the aim to control ´Smart´ tool points and mechanisms for surgery. By adopting this approach there is the potential to control the position of tool-points precisely in tissues that are moving or deflecting under tool forces and to discriminate different conditions or states in the process. Tactile systems are described for discriminating contact over a tissue surface or interface and for penetrating a deflecting tissue. One device has been deployed in surgery as a fully autonomous system. Future systems could combine a series of these approaches for sensing and the control of tool points.