This paper aims to introduce a sensorized surgical grasper with a novel flexible capacitive tactile force sensor integrated within the surgical grasper for minimally invasive surgery (MIS) and robot-assisted MIS (RMIS) procedures.
The proposed sensor offers a unique configuration of sensing electrodes with one top excitation electrode and three bottom electrodes enabling the measurement of normal and shear forces without incorporating any complex decoupling algorithms. The design of the sensor is optimized using finite-element method simulations, ensuring efficiency and reliability.
Experimental validation, real-time sensor response and application in lump detection through stiffness assessment demonstrate the decoupled force response (0–5 N normal range and 0–2 N shear range) with high sensitivity 0.0124/N, repeatability and hysteresis response with 5.65% and 4.7% errors respectively.
The compact design of the sensor makes it compliant with surgical graspers and therefore enhances the overall efficiency of robotic surgical procedures. The sensorized surgical grasper is fabricated using conventional machining and rapid prototyping techniques, presenting a cost-effective solution for adoption.
