{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T05:06:00Z","timestamp":1778216760060,"version":"3.51.4"},"reference-count":48,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2022,11,19]],"date-time":"2022-11-19T00:00:00Z","timestamp":1668816000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Research University Funds through Mahidol University and Government Research Budget through Mahidol University","award":["P07\/2564"],"award-info":[{"award-number":["P07\/2564"]}]},{"name":"National Research University Funds through Mahidol University and Government Research Budget through Mahidol University","award":["\u0e07\u0e1b 033\/2562"],"award-info":[{"award-number":["\u0e07\u0e1b 033\/2562"]}]},{"name":"Robotic Monofilament Inspector for Diabetic Neuropathy Screening","award":["P07\/2564"],"award-info":[{"award-number":["P07\/2564"]}]},{"name":"Robotic Monofilament Inspector for Diabetic Neuropathy Screening","award":["\u0e07\u0e1b 033\/2562"],"award-info":[{"award-number":["\u0e07\u0e1b 033\/2562"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Laparoscopic procedures have become indispensable in gastrointestinal surgery. As a minimally invasive process, it begins with primary trocar insertion. However, this step poses the threat of injuries to the gastrointestinal tract and blood vessels. As such, the comprehension of the insertion process is crucial to the development of robotic-assisted\/automated surgeries. To sustain robotic development, this research aims to study the interactive force\/torque (F\/T) behavior between the trocar and the abdomen during the trocar insertion process. For force\/torque (F\/T) data acquisition, a trocar interfaced with a six-axis F\/T sensor was used by surgeons for the insertion. The study was conducted during five abdominal hernia surgical cases in the Department of Surgery, Faculty of Medicine, Ramathibodi Hospital, Mahidol University. The real-time F\/T data were further processed and analyzed. The fluctuation in the force\/torque (F\/T) parameter was significant, with peak force ranging from 16.83 N to 61.86 N and peak torque ranging from 0.552 Nm to 1.76 Nm. The force parameter was observed to positively correlate with procedural time, while torque was found to be negatively correlated. Although during the process a surgeon applied force and torque in multiple axes, for a robotic system, the push and turn motion in a single axis was observed to be sufficient. For minimal tissue damage in less procedural time, a system with low push force and high torque was observed to be advantageous. These understandings will eventually benefit the development of computer-assisted or robotics technology to improve the outcome of the primary trocar insertion procedure.<\/jats:p>","DOI":"10.3390\/s22228970","type":"journal-article","created":{"date-parts":[[2022,11,21]],"date-time":"2022-11-21T04:39:59Z","timestamp":1669005599000},"page":"8970","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Interactive 3D Force\/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in Laparoscopic Abdominal Surgery: 5 Cases"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2092-2558","authenticated-orcid":false,"given":"Nantida","family":"Nillahoot","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Nakhon Pathom 73170, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Branesh M.","family":"Pillai","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Nakhon Pathom 73170, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bibhu","family":"Sharma","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Nakhon Pathom 73170, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chumpon","family":"Wilasrusmee","sequence":"additional","affiliation":[{"name":"Department of Surgery, Faculty of Medicine Ramathibodi Hospital, Mahidol University, Bangkok 10400, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jackrit","family":"Suthakorn","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Nakhon Pathom 73170, Thailand"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1166","DOI":"10.1177\/000313480807401207","article-title":"The role of laparoscopy in trauma: A ten-year review of diagnosis and therapeutics","volume":"74","author":"Mallat","year":"2008","journal-title":"Am. 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