Fiber Sensor - embedded Compliant Surgical Forceps using a 3D Printer

We developed a forceps mechanism with embedded optical fiber sensor manufactured by a 3D printer to realise force sensing in robotic minimally invasive surgery. First, we improved our previous design of the forceps to integrate the sensor into the mechanism while manufacturing by a 3D printer. Then, we conducted temperature, position input and loading tests to verify that the proposed mechanism can properly measure the force.These evaluations showed a positive feasibility to be implemented in surgical robots in the future.