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Related Experiment Video

Updated: Jan 4, 2026

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Pneumatically driven surgical forceps displaying a magnified grasping torque.

Takuya Iwai1, Takahiro Kanno1, Tetsuro Miyazaki1

  • 1Department of Biomechanics, Institute of Biomaterials and BioengineeringTokyo Medical and Dental University, Tokyo, Japan.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|November 12, 2019
PubMed
Summary

This study introduces novel pneumatically driven robotic forceps for enhanced surgical safety. The system accurately estimates and magnifies grasping force, improving operator feedback during robot-assisted surgery.

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Area of Science:

  • Robotics in Surgery
  • Surgical Instrumentation
  • Biomedical Engineering

Background:

  • Safe robot-assisted surgery requires accurate grasping force sensing and display.
  • Existing robotic forceps face challenges with weight and sterilization due to force sensors or motor torque.
  • Novel solutions are needed to overcome these limitations in surgical robotics.

Purpose of the Study:

  • To develop and evaluate a pneumatically driven robotic forceps system.
  • To enable accurate estimation and magnified display of grasping torque for surgeons.
  • To enhance safety and tactile feedback in robot-assisted surgical procedures.

Main Methods:

  • A pneumatically driven robotic forceps system with integrated master and slave devices was developed.
  • Grasping torque estimation in the slave robot utilized pressure changes within a pneumatic cylinder.
  • Torque display was achieved using a pneumatic bellows connected via a linkage mechanism.

Main Results:

  • The slave robot accurately replicated the master device's movements.
  • Grasping torque was estimated with a precision of 7 mNm.
  • Magnified torque information was successfully displayed to the operator.

Conclusions:

  • The developed pneumatically driven robotic forceps effectively estimate and display grasping torque.
  • The system shows potential for improving surgeon control and safety in robotic surgery.
  • Future research should focus on evaluating surgeon usability and fatigue.