Modeling and Simulation of Graspers Force in Minimally Invasive Surgery

In Minimally Invasive Surgery (MIS) the operation is performed through introducing surgery instruments, graspers, scissor into the body. In the present work, a novel smart grasper is presented in which the surgeon can virtually acquire a feeling of force/momentum experienced by the organ/tissue. The smart grasper uses piezoelectric sensors bonded at desired locations to detect the applied force/momentum by surgeon and to measure the transmitted response to the tissue/organ.