A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery**This work is funded by the National Key R&D Program of China (2018YFB1307700); Postgraduate Research & Practice Innovation Program of Jiangsu Province.

This paper reports a sensorized forcep with a minimized force sensing chip to facilitate Robotic-assisted Minimally Invasive Surgery (RMIS). A piezoresistive triaxial force sensor chip ($2\ \text{mm}\times 2\ \text{mm}$) is developed and integrated in the grasping head of a continuum robot to provide additional tactile to the RMIS. Biocompatible hemisphere cap enhances the sensor's capability of triaxial force detection. A 3-dimensioanl (3D) force test is performed on the sensorized forcep. This simple strategy of configuration and sensing makes it possible in miniaturization of the forceps (outside diameter is less than 4 mm) for RMIS in the strictest operating space.