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MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery

We developed a MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery. To validate the grasping forceps with sensors, the gelatin in which a silicone sphere was embedded was grasped with it and the variations in 3-axis force and 3-axis torque depending on grasping positions were measured. The size of the embedded hard object in a soft material was derived from acquired data of compression forces. It was also indicated that we can get the direction of the object from 2-axis torques.