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Updated: Aug 12, 2026
07:49
Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
Objective characterization of object-specific grasping behavior during robot-assisted pulmonary resection using
Shohei Mori1, Satoshi Arakawa2, Saki Tsubouchi3
1Department of Surgery, The Jikei University Kashiwa Hospital, 163-1 Kashiwashita Kashiwa-shi, Chiba, 277-8567, Japan. shoheijapan@jikei.ac.jp.
General Thoracic and Cardiovascular Surgery
|August 11, 2026
Summary
Robotic pulmonary resections show distinct grasping forces for different tissues. This method quantizes tissue manipulation, aiding surgical precision and safety in robot-assisted procedures.
Area of Science:
- Robotics in Surgery
- Surgical Mechanics
- Biomechanics
Background:
- Objective characterization of intraoperative grasping is lacking despite robotic advancements.
- Robotic systems can record grasping-force data, offering potential for objective analysis.
Purpose of the Study:
- To objectively characterize object-specific grasping behavior during robot-assisted pulmonary resection.
- To utilize synchronized surgical video and force-log analysis for this characterization.
Main Methods:
- Collected force data from seven robotic pulmonary resections.
- Reviewed surgical videos to identify grasping events across five object categories.
- Extracted five force-related features (peak force, mean force, mean-to-peak ratio, initial rising slope, hold time) from 271 grasping events.
Main Results:
- All five force features differed significantly among object categories.
- Lymph nodes required the lowest forces; artificial materials required the highest.
- Bronchial and vascular sheaths showed similar intermediate force characteristics.
Conclusions:
- Object-specific force features enable quantitative characterization of grasping behavior.
- Presents a novel methodological approach for objective tissue manipulation analysis in robotic surgery.
