Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity

Koji Atsuta, Soji Ozawa, Naoki Shimojima, Tomoyuki Shimono, Shigeru Susa, Takayoshi Takei, Kouhei Ohnishi, Yasuhide Morikawa

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Currently available master-slave manipulators cannot recognize the elasticity of organs or tissues. The aim of this study was to examine whether a newly developed haptic forceps using a linear motor could measure the elasticity of living organs using an animal model. We measured the elasticity values and the disruption limit values of rat organs using the new haptic forceps. The elasticity of the materials was calculated using the formula "power ÷ position", with N/m as the unit. We successfully and reproducibly measured the changes in the elasticity values of various materials in real time. We were also able to perceive tactile changes transmitted through the forceps. The changes in gastrointestinal contraction were synchronized with the visually observed changes, and these changes were monitored and measured as elasticity values in real time using the forceps. The damage limits were also successfully measured. In conclusion, the new haptic forceps enabled highly sensitive, real-time measurements of elasticity in living rat organs. The use of this forceps enables the disruption limit values of organs to be measured, and the device could be useful for setting safety limits when grasping organs during endoscopic surgery.

Original languageEnglish
Pages (from-to)177-183
Number of pages7
JournalMinimally Invasive Therapy and Allied Technologies
Issue number3
Publication statusPublished - 2010 Jun


  • Elasticity
  • Endoscopic surgery
  • Haptics
  • Rat
  • Robot

ASJC Scopus subject areas

  • Surgery


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