{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,30]],"date-time":"2025-06-30T04:40:05Z","timestamp":1751258405794,"version":"3.41.0"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2018,1,30]],"date-time":"2018-01-30T00:00:00Z","timestamp":1517270400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2018,6]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a new type of forceps that consist of two microgrippers with the capability of direct force sensing, which enables grasping and manipulating forces at the tip of surgical instrument for minimally invasive robotic surgery. For the prototype design of the forceps, a double E-type vertical elastomer with four strain beams is presented, whose force-sensing principle is expounded. Thus, the forceps with the elastomer can be considered a compliant component, which provides tiny displacements that allow large strain, and the overall diameter is 10 mm. The sizes of the elastomer and forceps are successively determined by analyzing the relationship of several parameters and strain. Then, the linearity analysis of strain beams determines the positions to apply gauges for sensing. The two-dimensional force decoupling models for a single microgripper are proposed based on piecewise analytical polynomials of the strain difference and employed to develop a new three-dimensional force nonlinear decoupling algorithm based on double microgrippers, which realizes single-axial grasping and three-axial pulling forces. Finally, the required force-sensing performance of the proposed method is successfully verified in theory using finite-element simulations.<\/jats:p>","DOI":"10.1017\/s0263574718000085","type":"journal-article","created":{"date-parts":[[2018,1,30]],"date-time":"2018-01-30T10:37:25Z","timestamp":1517308645000},"page":"865-881","source":"Crossref","is-referenced-by-count":9,"title":["Three-dimensional nonlinear force-sensing method based on double microgrippers with E-type vertical elastomer for minimally invasive robotic surgery"],"prefix":"10.1017","volume":"36","author":[{"given":"Lingtao","family":"Yu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yusheng","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chenzheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiufeng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,1,30]]},"reference":[{"key":"S0263574718000085_ref20","doi-asserted-by":"publisher","DOI":"10.3109\/13645706.2013.873469"},{"key":"S0263574718000085_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/10.790498"},{"key":"S0263574718000085_ref23","doi-asserted-by":"crossref","unstructured":"U. Kim , D. H. Lee , H. Moon , J. C. Koo and H. R. Choi , \u201cDesign and Realization of Grasper-Integrated Force Sensor for Minimally Invasive Robotic Surgery,\u201d Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA (Sep. 14\u201318, 2014) pp. 4321\u20134326.","DOI":"10.1109\/IROS.2014.6943173"},{"key":"S0263574718000085_ref30","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/14\/6\/019"},{"key":"S0263574718000085_ref27","doi-asserted-by":"crossref","unstructured":"M. Stephan , G. Rognini , A. Sengul , R. Beira , L. Santos-Carreras and H. Bleuler , \u201cModeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF,\u201d Proceedings of the International Conference on Control, Automation and Systems 2010, Gyeonggi-do, Korea (Oct. 27\u201330, 2010) pp. 361\u2013365.","DOI":"10.1109\/ICCAS.2010.5670172"},{"key":"S0263574718000085_ref25","doi-asserted-by":"crossref","unstructured":"U. Kim , Y. B. Kim , D. Y. Seok , J. So and H. R. 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Rossi , P. Iacconi and E. P. Scilingo , \u201cA Sensor-Based Minimally Invasive Surgery Tool for Detecting Tissue Elastic Properties,\u201d Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA (Apr. 22\u201328, 1996) pp. 884\u2013888.","DOI":"10.1109\/ROBOT.1996.503884"},{"key":"S0263574718000085_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-25968-8_5"},{"key":"S0263574718000085_ref28","doi-asserted-by":"crossref","unstructured":"J. B. Gafford , S. B. Kesner , R. J. Wood and C. J. Walsh , \u201cForce-Sensing Surgical Grasper Enabled by Pop-up Book MEMS,\u201d Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (Nov. 3\u20137, 2013) pp. 2552\u20132558.","DOI":"10.1109\/IROS.2013.6696716"},{"key":"S0263574718000085_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2415838"},{"key":"S0263574718000085_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.4031282"},{"key":"S0263574718000085_ref11","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.4032591","article-title":"Estimating tool-tissue forces using a 3-degree-of-freedom robotic surgical tool","volume":"8","author":"Zhao","year":"2016","journal-title":"J. Mech. Robot."},{"key":"S0263574718000085_ref12","doi-asserted-by":"crossref","unstructured":"Y. M. Li , M. Miyasaka , M. Haghighipanah , L. Cheng and B. Hannaford , \u201cDynamic Modeling of Cable Driven Elongated Surgical Instruments for Sensorless Grip Force Estimation,\u201d Proceedings of the 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden (May 16\u201321, 2016) pp. 4128\u20134134.","DOI":"10.1109\/ICRA.2016.7487605"},{"key":"S0263574718000085_ref13","doi-asserted-by":"crossref","unstructured":"S. K. Prasad , M. Kitakawa , G. S. Fischer et al., \u201cA Modular 2-DOF Force-Sensing Instrument for Laparoscopic Surgery,\u201d Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention Springer, Berlin, Heidelberg (2003), vol. 2878, pp. 279\u2013286.","DOI":"10.1007\/978-3-540-39899-8_35"},{"key":"S0263574718000085_ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.4000421"},{"key":"S0263574718000085_ref17","doi-asserted-by":"publisher","DOI":"10.1115\/1.2952817"},{"key":"S0263574718000085_ref18","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.33"},{"key":"S0263574718000085_ref19","first-page":"377","volume-title":"Medical Robotics","author":"Seibold","year":"2008"},{"key":"S0263574718000085_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(97)01534-3"},{"key":"S0263574718000085_ref21","doi-asserted-by":"crossref","unstructured":"R. Ma , D. Wu , Z. 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Choi , \u201cPreliminary Design of Multi-Axial Contact Force Sensor for Minimally Invasive Robotic Surgery Grasper,\u201d Proceedings of the 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany (May 6\u201310, 2013) pp. 1019\u20131024.","DOI":"10.1109\/ICRA.2013.6630698"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718000085","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,30]],"date-time":"2025-06-30T04:18:43Z","timestamp":1751257123000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718000085\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,1,30]]},"references-count":32,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2018,6]]}},"alternative-id":["S0263574718000085"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718000085","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2018,1,30]]}}}