Optical Force Sensor embedded Compliant Forceps for Minimally Invasive Surgery

Abstract

In order to realise force sensing in robotic minimally invasive surgery, we developed a forceps mechanism with an optical fiber sensor integrated into the structure. First, we designed the forceps that can incorporate with the sensor, then conducted a temperature characteristic evaluation and a loading experiment to verify that the designed component can properly measure the load. These preliminary evaluations showed promising results to be further implemented in a surgical robot.