Design And Evaluation Of A Balanced Compliant Laparoscopic Grasper

In laparoscopic surgery, quality of haptic feedback is reduced compared to conventional surgery, leading to unintentional tissue damage during grasping. From the perspective of haptics, poor mechanical design of laparoscopic instrument joints induces friction and a nonlinear actuation-tip force relation. In this study, a novel laparoscopic...

Effect of laparoscopic grasper force transmission ratio on grasp control

Background- Surgeons may cause tissue damage by incorrect laparoscopic pinch force control. Unpredictable tissue and grasper properties may cause slips or ruptures. This study investigated how different forms of haptic feedback influence the surgeon’s ability to generate a safe laparoscopic grasp while pulling tissues of variable stiffness using...