Integrated Shape and Force Sensing for Continuum Instruments via Polynomial Curvature Modeling and Torque-Cell-Based Actuation

Abstract: Continuum instruments are integral to robot-assisted minimally invasive surgery (MIS), with cable-driven mechanisms being the most common. Real-time tension feedback is crucial for precise articulation but remains a challenge in compact actuation unit designs. Additionally, accurate shape and external force sensing of continuum instruments are essential for advanced control and manipulation. This paper presents a compact actuation unit that integrates a torque cell directly into the pulley module to provide real-time tension feedback. Building on this unit, we propose a novel shape-force sensing framework incorporating polynomial curvature kinematics and virtual-work-based force sensing model. The framework combines pose sensor measurements at the instrument tip and actuation tension feedback at the developed actuation unit. Experimental results demonstrate the improved performance of the framework in terms of shape reconstruction accuracy and force estimation reliability compared to conventional constant curvature methods.