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Adapter for contact force sensing of the da Vinci® robot

At present, the da Vinci® surgical robot system does not provide haptic feedback. One of the authors has proposed a contact‐force sensing method called the ‘overcoat method’, in which the instrument/driver is supported by force sensors. In the da Vinci robot, the instrument jaws are powered by a wire‐pulley mechanism; thus, in order to apply the overcoat method to the da Vinci system, we must transfer the power through a frame that is supported by force sensors.