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Updated: Nov 29, 2025
Fabrication and Implementation of a Reference-Free Traction Force Microscopy Platform
Published on: October 6, 2019
Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation
Satoshi Hangai1, Takahiro Nozaki1,2, Tomoya Soma3
1Department of System Design Engineering, Keio University, Minato, Tokyo, Japan.
Background:
Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage.
Methods:
To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model.
Results:
The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error.
Conclusions:
The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.
