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However, the design of force sensors for surgical robots is challenging due to the limited anatomical space and the requirement for continuous rotation.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>This paper presents a novel force\u2010sensing surgical instrument for endometrial repair, including an inner scraping instrument and an outer force sensing sheath. It utilises the actuation force of the outer flexible sheath to predict real\u2010time tangential and normal forces of the scraping to the endometrium surface. Experiments are conducted to test its force sensing accuracy.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>This paper simulated three types of operations with different tangential force thresholds and obtained the mean error with the standard deviation.<\/jats:p><\/jats:sec><jats:sec><jats:title>Discussion<\/jats:title><jats:p>This sensing method enables real\u2010time and accurate measurement of the dynamic scraping force between the rotating instrument and the tissue.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.70045","type":"journal-article","created":{"date-parts":[[2025,1,27]],"date-time":"2025-01-27T13:57:53Z","timestamp":1737986273000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Dynamic Force Sensing for Continuous Scraping Towards Endometrium Repair Surgery"],"prefix":"10.1002","volume":"21","author":[{"given":"Jie","family":"Li","sequence":"first","affiliation":[{"name":"Shenyang Jianzhu University  Shenyang China"},{"name":"Key Laboratory of Minimally Invasive Surgical Robot of Liaoning Province  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenguo","family":"Yang","sequence":"additional","affiliation":[{"name":"Shenyang Jianzhu University  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dingjia","family":"Li","sequence":"additional","affiliation":[{"name":"Key Laboratory of Minimally Invasive Surgical Robot of Liaoning Province  Shenyang China"},{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chongyang","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Minimally Invasive Surgical Robot of Liaoning Province  Shenyang China"},{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ji","family":"Shen","sequence":"additional","affiliation":[{"name":"Shenyang Jianzhu University  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chao","family":"Han","sequence":"additional","affiliation":[{"name":"Key Laboratory of Minimally Invasive Surgical Robot of Liaoning Province  Shenyang China"},{"name":"State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xing","family":"Xin","sequence":"additional","affiliation":[{"name":"Shengjing Hospital of China Medical University  Shenyang China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weiqun","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Automation. 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