A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability

The introduction of robot-assisted surgery into the operating room has led to significant improvements in surgical procedures. However, the lack of haptic feedback in these robotic systems using long teleoperated instruments has negatively affected the surgeon's ability to palpate tissue and diagnose it as healthy or unhealthy. This paper describes our design of a modular, automated laparoscopic grasper with tri-directional force measurement capability. The grasper can measure normal grasping forces, as well as, sideways manipulation forces during grasping and palpation tasks. Additionally, a modular design allows for easy conversion between surgical modalities (e.g., grasping, cutting, and dissecting). Calibration of the force sensors and initial testing of the prototype has shown its ability to accurately measure tool-tissue interaction forces.