ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2020
Pneumatically driven surgical forceps displaying a magnified grasping torque.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 8 citations in OpenAlex.
- Initial Experience with the Saroa Surgical System in Robot-Assisted Hysterectomy: First Clinical Case Series and Haptic Feedback Assessment.Medicina (Kaunas, Lithuania) · 2025Article
- Vision-based estimation of manipulation forces by deep learning of laparoscopic surgical images obtained in a porcine excised kidney experiment.Scientific reports · 2024Article
- Effects of a force feedback function in a surgical robot on the suturing procedure.Surgical endoscopy · 2024Article
- Impact of a pneumatic surgical robot with haptic feedback function on surgical manipulation.Scientific reports · 2023Article
- Pneumatically driven surgical forceps displaying a magnified grasping torque.The international journal of medical robotics + computer assisted surgery : MRCAS · 2020Article
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Authors and funding
5 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundSensing the grasping force and displaying the force for the operator are important for safe operation in robot-assisted surgery. Although robotic forceps that senses the force by force sensors or driving torque of electric motors is proposed, the force sensors and the motors have some problems such as increase in weight and difficulty of the sterilization.
methodWe developed a pneumatically driven robotic forceps that estimates the grasping torque and display the magnified torque for the operator. The robotic forceps has a master device and a slave robot, and they are integrated. In the slave side, the grasping torque is estimated by the pressure change in the pneumatic cylinder. A pneumatic bellows display the torque through a linkage.
resultsWe confirmed that the slave robot follows the motion of the master, and the grasping torque is estimated in the accuracy of 7 mNm and is magnified and displayed for the operator.
conclusionsThe pneumatically driven robotic forceps has the capability in the estimation of the grasping torque and display of the torque. Regarding future work, the usability and fatigues of the surgeons must be evaluated.
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