TY  - JOUR
AB  - Advancements in robotics have led to significant improvements in robot‐assisted minimally invasive surgery. This paper describes our design of an automated laparoscopic grasper with tri‐directional force measurement capability at the grasping jaws. The laparoscopic tool can measure normal, lateral, and longitudinal grasping forces while grasping soft tissue. Additionally, the tool can also be used to measure the tissue probing forces. Initial testing of the prototype has shown its ability to accurately characterize artificial tissue samples of varying stiffness and accurately measure the probing forces.
VL  - 31
IS  - 6
SN  - 0143-991X
DO  - 10.1108/01439910410566380
UR  - https://doi.org/10.1108/01439910410566380
AU  - Tholey Gregory
AU  - Pillarisetti Anand
AU  - Desai Jaydev P.
PY  - 2004
Y1  - 2004/01/01
TI  - On‐site three dimensional force sensing capability in a laparoscopic grasper
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 509
EP  - 518
Y2  - 2024/05/12
ER  -