Balancing forces: Design of a magnetically balanced compliant grasper

Laparoscopic or minimally invasive surgery (MIS) has seen a lot of development. For the patient, laparoscopic surgery has many benefits. However, for surgeons this is not the case. For example, laparoscopic grasper design exhibit play and hysteresis during surgical tasks such as grasping and palpating. This impedes haptic feedback, resulting in...