Force measurement capability for robotic assisted minimally invasive surgery systems

Mohsen Moradi Dalvand, Bijan Shirinzadeh, Saeid Nahavandi, Fatemeh Karimirad, Julian Smith

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

8 Citations (Scopus)


An automated laparoscopic instrument capable of non-invasive measurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems is introduced in this paper. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of this paper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this paper. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

Original languageEnglish
Title of host publicationWCECS 2013 - World Congress on Engineering and Computer Science 2013
PublisherNewswood Limited
Number of pages6
ISBN (Print)9789881925169
Publication statusPublished - 2013
EventWorld Congress on Engineering and Computer Science (WCECS) 2013 - San Francisco, United States of America
Duration: 23 Oct 201325 Oct 2013 (Conference website)

Publication series

NameLecture Notes in Engineering and Computer Science
ISSN (Print)2078-0958


ConferenceWorld Congress on Engineering and Computer Science (WCECS) 2013
Abbreviated titleWCECS 2013
CountryUnited States of America
CitySan Francisco
Internet address


  • Actuation Mechanism
  • Force Measurement
  • Laparoscopic Instrument
  • Modularity
  • Robotic Assisted Minimally Invasive Surgery (RAMIS)
  • Strain Gages
  • Transmission Mechanism

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