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Related Concept Videos

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Related Experiment Video

Updated: Nov 20, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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A study on safe forceps grip force for the intestinal tract using haptic technology.

Kentaro Yatabe1, Soji Ozawa1, Junya Oguma2

  • 1Department of Gastroenterological Surgery, Tokai University School of Medicine, Kanagawa, Japan.

Minimally Invasive Therapy & Allied Technologies : MITAT : Official Journal of the Society for Minimally Invasive Therapy
|January 19, 2021
PubMed
Summary

A forceps grip force of 15 N is safe for handling beagle dog intestines, preventing both macroscopic and microscopic damage. This finding is crucial for surgical procedures involving the intestinal tract.

Keywords:
haptic forcepshapticsrobotic surgerysafety gripping force

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Area of Science:

  • Surgical Technology
  • Biomedical Engineering
  • Veterinary Surgery

Background:

  • Minimizing iatrogenic injury during surgical manipulation is critical.
  • Haptic technology offers potential for precise force feedback in surgery.
  • Determining safe force parameters for delicate tissues like the intestines is essential.

Purpose of the Study:

  • To establish the safe forceps grip force for handling the intestinal tract using haptic technology.
  • To prevent organ damage during surgical procedures.

Main Methods:

  • Ten male beagle dogs (9.5-10 kg) underwent intestinal grasping with forceps for one minute.
  • Grip force was defined as the force causing forceps tip closure.
  • Damage was assessed macroscopically (hemorrhage, hematomas) and microscopically (tissue layers).

Main Results:

  • A maximum grip force of 15 N resulted in a 0% incidence of hemorrhage and hematoma.
  • Microscopic analysis showed that 15 N grip force caused no external longitudinal muscle injury.
  • Grip marks and serosal/subserosal damage layer were considered acceptable safety margins.

Conclusions:

  • A forceps grip force of 15 N is safe for beagle dog small intestines.
  • This force level prevents macroscopic and microscopic damage.
  • Findings provide a critical parameter for safe surgical handling of intestinal tissue.