Novel haptic tool and input device for real time bilateral biomanipulation addressing endoscopic surgery.

In this paper a sensorised polymer microgripper is presented which can be used as a suitable end effector on an endoscopic microinstrument for robot-assisted and possibly teleoperated surgery to enable the operator to receive haptic feedback information on the forces generated during the procedure. A novel tweezers- like haptic input device is also described, which gives the operator the ability to remotely feel these forces generated by grasping operations with the microgripper. This feedback is used to control the amount of force applied in manipulation of tissues during the procedure. The mechanical and electronic design of the microgripper, microinstrument and haptic tweezers is also presented and preliminary results detailed.