Abstract
We measured the triaxial forces applied to the grasped object during the staple operation of a surgical stapler by a MEMS (Micro Electro Mechanical System) triaxial tactile sensor (Touchence Inc., FSI-020119P) to develop the criteria for the accurate automated suturing by surgical staplers. The compression force was 43.0 ± 0.1 N at the 5 mm from the tip of the stapler. This value was agreed with the value measured by a pressure sensor (KYOWA, PS-10KC). Moreover, 9.3 ± 0.3 N shear force was measured toward the stapler tip. The shear force of the orthogonal direction to the axis of the stapler was approximately 0 N. These result agreed with the prediction based on the movement of the stapler tip that the anvil jaw pushes the grasped object out. Thus, the triaxial forces applied to the grasped object during the staple operation can be acquired in real time by the MEMS triaxial tactile sensor.
