Multi-force sensing surgical instrument and method of use for robotic surgical systems

A robotic system, comprising:

• a robot having a tool connector;
• a multi-force sensing instrument attached to said tool connector of said robot;
• and
• a feedback system configured to communicate with said multi-force sensing instrument to provide at least one of feedback control of said robot or feedback information to a user of said robotic system,
• wherein said multi-force sensing instrument comprises:
• a tool comprising a tool shaft having a distal end and a proximal end;
• a strain sensor arranged at a first position along said tool shaft;
• at least one of a second strain sensor or a torque-force sensor arranged at a second position along said tool shaft, said second position being more towards said proximal end of said tool shaft than said first position;
• and
• a signal processor configured to communicate with said strain sensor and said at least one of said second strain sensor or said torque-force sensor to receive detection signals therefrom,
• wherein said signal processor is configured to process said signals to determine a magnitude and position of a lateral component of a force applied to said tool shaft when said position of said applied force is between said first and second positions, and
• wherein said lateral component of said force is a component of said force that lies in a plane that is orthogonal to said tool shaft at said position at which said force is applied.

A method of controlling a robotic system, comprising:

• performing an action with a multi-force sensing instrument, said multi-force sensing instrument, comprising:
• a tool comprising a tool shaft having a distal end and a proximal end,
• a strain sensor arranged at a first position along said tool shaft,
• at least one of a second strain sensor or a torque-force sensor arranged at a second position along said tool shaft, said second position being more towards said proximal end of said tool shaft than said first position, and
• a signal processor configured to communicate with said strain sensor and said at least one of said second strain sensor or said torque-force sensor to receive detection signals therefrom,
• wherein said signal processor is configured to process said signals to determine a magnitude and position of a lateral component of a force applied to said tool shaft when said position of said applied force is between said first and second positions, and
• wherein said lateral component of said force is a component of said force that lies in a plane that is orthogonal to said tool shaft at said position at which said force is applied;
• and
• providing control signals to a robot based on said magnitude and position of said lateral component of said force determined from said multi-force sensing instrument such that said robot performs an automatic action in response thereto.