{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T15:42:12Z","timestamp":1781970132883,"version":"3.54.5"},"reference-count":39,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2016,1,25]],"date-time":"2016-01-25T00:00:00Z","timestamp":1453680000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100003968","name":"Iranian National Science Foundation","doi-asserted-by":"crossref","award":["91002447"],"award-info":[{"award-number":["91002447"]}],"id":[{"id":"10.13039\/501100003968","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics Computer Surgery"],"published-print":{"date-parts":[[2016,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability.<\/jats:p><\/jats:sec><jats:sec><jats:title>Method<\/jats:title><jats:p>A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force\u2010controlled grasping scheme.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318\u2009N; it was 0.402\u2009N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto\u2010grasping control scheme. Copyright \u00a9 2016 John Wiley &amp; Sons, Ltd.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.1727","type":"journal-article","created":{"date-parts":[[2016,1,25]],"date-time":"2016-01-25T08:32:39Z","timestamp":1453710759000},"page":"620-633","source":"Crossref","is-referenced-by-count":18,"title":["A modular force\u2010controlled robotic instrument for minimally invasive surgery \u2013 efficacy for being used in autonomous grasping against a variable pull force"],"prefix":"10.1002","volume":"12","author":[{"given":"Seyed Mohsen","family":"Khadem","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department Sharif University of Technology  Tehran Iran"},{"name":"Research Centre for Biomedical Technologies and Robotics (RCBTR) Tehran University of Medical Sciences  Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Saeed","family":"Behzadipour","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Sharif University of Technology  Tehran Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alireza","family":"Mirbagheri","sequence":"additional","affiliation":[{"name":"Medical Physics and Biomedical Engineering Department, School of Medicine and Research Centre for Biomedical Technologies and Robotics (RCBTR) Tehran University of Medical Sciences  Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Farzam","family":"Farahmand","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department Sharif University of Technology  Tehran Iran"},{"name":"Research Centre for Biomedical Technologies and Robotics (RCBTR) Tehran University of Medical Sciences  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