Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

Robot assisted surgery (RAS) provides medical practitioners with valuable tools, decreasing
strain during surgery and leading to better patient outcomes. While the loss of haptic …

A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is
presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed …

A novel force-sensing mechanism for surgical robotic systems is required for further
innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel …

To achieve a compact and lightweight surgical robot with force-sensing capability, in this
paper, we propose a surgical robot called “S-surge,” which is developed for robot-assisted …

The primary motivation of this study is to develop a sensor-less, easily controlled, and
passively adaptive robotic gripper. A back-drivable pneumatic underactuated robotic gripper …

Robot-Assisted Minimally Invasive Surgery (RAMIS) is becoming standard-of-care in
western medicine. RAMIS offers better patient outcome compared to traditional open …

Robotic gripper is a fundamental component of robot to achieve gras** operations.
Gras** force control is an essential requirement for the robotic gripper to achieve adaptive …

In the context of teleoperated surgical robots, much research has been conducted into haptic
feedback systems. Ultrasonic motors (USMs) are expected to be used as actuators for …

In this paper, a back-drivable and miniature rotary series elastic actuator (RSEA) is
proposed for robotic adaptive gras**. A compact arc grooves design has been proposed …