Grip force measurement of forceps with fibre Bragg grating sensors

Although haptic feedback is critical for many surgical tasks, surgeons cannot currently obtain haptic feedback from teleoperated surgical robots because it is difficult to attach force sensitive sensors to the surgical robot in the surgery environment. Therefore, force sensitive forceps with an optical fibre Bragg grating sensor attached on the grasper are proposed. The proposed prototype forceps confirmed that the sensitive grasping force in the teleoperated grasper is comparable to the providing force and measuring force.