This paper presents a laparoscopic grasping tool for minimally invasive surgery with the capability of multiaxis force sensing. The tool is able to sense three-axis Cartesian manipulation force and a single-axis grasping force. The forces are measured by a wrist force sensor located at the distal end of the tool, and two torque sensors at the tool base, respectively. We propose an innovative design of a miniature force sensor achieving structural simplicity and potential cost effectiveness. A prototype is manufactured and experiments are conducted in a simulated surgical environment by using an open platform for surgical robot research, called Raven-II.
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Choi et al. (2015) studied this question.
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