Research and Development of Testing Device for Evaluating Force Transmission and Grasping Pressure of Laparoscopic Forceps

In this study, we have developed a device with the aim of understanding the relationship between the force exerted by a surgeon on the handles/grips of laparoscopic forceps and the force transmitted to the forceps jaw side. To measure this relationship, force is applied to the handles/grips of a set of laparoscopic forceps using an electrically powered actuator and a pressure sensor load cell is used to measure the force applied. On the jaw side, a forcesensitive resistor (FSR) generates pressure information. A microprocessor uses the load cell data, and a proportional-integral-derivative (PID) controller stably maintains the actuation pressure to match that requested by the user's settings. A user interface has been developed for this device to allow both engineers and surgeons to use it. To date, two types of forceps have been analyzed, both Olympus HiQ+ series graspers, and the mechanical force transmission mechanisms involved have been described. The pressure distribution exerted on the jaw side has also been obtained using a Fujifilm Prescale® system (FPS).