6-DOF Force Sensing for the Master Tool Manipulator of the da Vinci Surgical System

We integrated a force/torque sensor into the wrist of the Master Tool Manipulator (MTM) of the da Vinci Standard Surgical system. The added sensor can be used to monitor the surgeon interaction forces and to improve the haptic experience. The proposed mechanical design is expected to have little effect on the surgeon's operative experience and is simple and inexpensive to implement. We also developed a software package that allows for seamless integration of the force sensor into the da Vinci Research Kit (dVRK) and the Robot Operating System (ROS). The complete mechanical and electrical modifications, as well as the software packages are discussed. Two example applications of impedance control at the MTM and joystick control of the PSM are presented to demonstrate the successful integration of the sensor into the MTM and the interface to the dVRK.