This paper presents a novel surgical instrument integrated with a four-degree-of-freedom
(DOF) force sensor. By adopting the capacitive transduction principle, the sensor enables …

A novel force-sensing mechanism for surgical robotic systems is required for further
innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel …

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 …

Instrument–tissue interaction forces in minimally invasive surgery (MIS) provide valuable
information that can be used to provide haptic perception, monitor tissue trauma, develop …

Due to nonlinear friction and backlash characteristics of cable-driven mechanism (CDM) in
laparoscope surgical robot end-effector, it is difficult to predict force and control position …

Due to the narrow space and a harsh chemical environment in the sterilization processes for
the end-effector of surgical robots, it is difficult to install and integrate suitable sensors for the …

Robot-assisted laparoscopic surgery (RALS) has been widely investigated and developed
as a routine and preferred minimally invasive surgery (MIS) because of enhanced …

In spite of the remarkable benefits that minimally invasive surgery provides for patients, the
absence of force feedback is still a significant disadvantage. Several studies have been …

Considering the urgent need of force feedback and control for laparoscope surgical robot, it
is important to predict and estimate the grasping force of end-effector during the surgical …

This paper presents a grasper-integrated force sensor that provides the capability of
measuring dual axial forces at the tip of surgical robot for minimally invasive surgery (MIS) …