Sensorized Surgical Forceps for Robotic-Assisted Minimally Invasive Surgery

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 sensorized surgical forceps are presented with five-degree-of-freedom (5-DOF) force/torque (FIT) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational torque acting at the forceps. Two compact 3-DOF force sensors are integrated into the proximal region on two jaws of the forceps to measure 5-DOF HT. The forceps also present important advantages for actual use in RMIS, such as miniaturization, compatible configuration to various shapes of surgical forceps, and packaged sensor electronics. In this study, the forceps are designed and manufactured at a low cost and are even disposable. To evaluate the forceps in a surgical robotic environment, the instrument is installed in a surgical robot, named S-Surge. In the environment, the 5-DOF FIT sensing capability is evaluated through comparison with reference sensors.