A grasping forceps with a triaxial MEMS tactile sensor for quantification of stresses on organs

This paper reports on a grasping forceps with a triaxial Micro Electro Mechanical Systems (MEMS) tactile sensor on a tip. The laparoscopic surgery is minimally invasive because the incisions are smaller than the open surgery. This results in fast recovery. However, it is a problem in the laparoscopic surgery to damage an organ by localized stress generated by grasping with a thin forceps. To avoid excessive stress applying to the organ, real time evaluation of the stress is important. However, there is no acceptable tool to measure the stress. We propose a grasping forceps with a triaxial MEMS tactile sensor on a tip for a measurement tool. We attached a triaxial MEMS tactile sensor which we have developed on a tip of a grasping forceps. The MEMS sensor can measure not only the pressure but also two directional shear stresses applied to the sensor surface. The sensor size is 7 mm × 7 mm × 2 mm. It is enough small to attach the sensor to the tip of a forceps 12 mm in diameter. In this paper, the characteristics of the forceps with the MEMS sensor during grasping, pushing and pulling actions were evaluated. In these experiments, output of each sensor for pressure and shear stress was proportional to the applied stresses, respectively. Moreover, as an in vivo experiment, we measured the shear stress applied to a pig liver block when it is lifted after being grasped with the forceps. We obtained that the shear stress applied to the liver block increased with the increase of the weight of the liver block.