ArticleScientific reports2025
In vivo evaluation of tissue damage from varying grasping forces using the Saroa surgical system.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- Force sensing and haptic feedback in robotic surgery: a bibliometric and knowledge-mapping analysis of technological evolution and translational trajectories.Journal of robotic surgery · 2026Review
- Objective characterization of object-specific grasping behavior during robot-assisted pulmonary resection using intraoperative force data.General thoracic and cardiovascular surgery · 2026Article
- Initial experience with the Saroa surgical system for early-stage lung cancer: a comparative study with the da Vinci surgical system.Surgery today · 2026Article
- Path planning for fracture reduction robots incorporating physiological tissue response and safety-oriented optimization.International journal of computer assisted radiology and surgery · 2026Article
- Early clinical experience with Saroa, a pneumatically actuated surgical robot with quantitative haptic feedback, in robot-assisted thoracic surgery: safety, learning curve, and feasibility of direct pulmonary artery grasping.Journal of robotic surgery · 2026Article
- The cyber-physical paradigm for lifetime aortic valve management: a synthesis of robotics, artificial intelligence, and augmented reality.Journal of robotic surgery · 2026Review
- Haptic and Palpation Sensing for Robotic Surgery: Engineering Perspectives on Design and Integration.Sensors (Basel, Switzerland) · 2026Article
- First Japanese Experience of Robotic-Assisted Low Anterior Resection Using the da Vinci 5: Incorporating Force Feedback and Case Insights in Rectal Cancer Surgery.Surgical case reports · 2026Article
- Force in robotic thoracic surgery -a one year analysis of DaVinci 5 force feedback.Journal of robotic surgery · 2025Article
- Initial Experience with the Saroa Surgical System in Robot-Assisted Hysterectomy: First Clinical Case Series and Haptic Feedback Assessment.Medicina (Kaunas, Lithuania) · 2025Article
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13 authors.
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Abstract
Robot-assisted surgery can help to reduce patient burden and operator stress by enabling precise manipulations with multiple joint motions, but may also cause complications due to the lack of tactile sensation. The Saroa surgical system was developed with a haptic feedback function, and allows operators to adjust grasping forces as desired. In this study, we investigated tissue damage from varying grasping forces using the Saroa surgical system, and assessed the utility of this system. The grasping forceps of the Saroa system were used to grasp the lungs, esophagus, aorta, liver, spleen, small intestine, and large intestine of six beagle dogs with forces of 1, 2, and 3 N for durations of 1, 2, and 4 min. The effects of different grasping forces and durations on tissue damage were histologically evaluated. Histological evaluations showed that grasping force caused tissue damage in the lung and liver, but not the other organs. These results showed the lung and liver were more vulnerable to grasping forces, and exhibited more severe tissue damage at higher forces. These findings suggest that the haptic feedback function of the Saroa system could help to reduce intraoperative organ damage, especially in the fields of lung and liver surgery.
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