In this paper, we measured the relationship between the grasping position of the tissue model including a tumor model and the compression and shear forces detected by a grasping forceps with sensors during grasping. We prepared 3 types of tissue model made by gelatin. An acrylic ball as a tumor model was embedded in the tissue model varying the depth of the ball. The maximum compression force was detected at the right above of the ball. At the position, comparing the compression force detected at the each tip of the grapsing forceps, the compression force detected at the near side of the ball was larger than that of at the opposite side. Moreover, the shear force occurred in the direction toward the ball around the ball except for the right above. These results show that we can estimate the position, the depth and the direction of the tumor by measuring the compression and shear forces during grasping.
