CHAO-CHIEH LANWang, JungyuanJungyuanWang2025-09-242025-09-242011https://www.scopus.com/inward/record.uri?eid=2-s2.0-84871690766&doi=10.1109%2FICRA.2011.5979556&partnerID=40&md5=8918d409e2a6b238ea2308b6ba9ebfc9https://scholars.lib.ntu.edu.tw/handle/123456789/7324562011 IEEE International Conference on Robotics and Automation, ICRA 2011. Shanghai. conference code:94261Force regulation is a challenging task of forceps used for robot-assisted surgical manipulation. To avoid excessive force applied on soft tissues, sophisticated sensors with computerized precise control are often required. Without using additional electronic elements, this paper presents a passive mechanism to maintain a constant contact force between forceps jaw tips and tissues given a pre-specified force magnitude. The mechanism consists of symmetric flexible structures specifically designed to generate a constant torque regardless of input rotation. The constant torque is converted to a constant force through an adjustable lever arm. When the force is further transmitted to jaw tips, it keeps a nearly constant contact force regardless of tissue stiffness and size. After a formulation to find the optimal mechanism configuration, the design is verified by comparing experiment and simulation results. A prototype of the adjustable constant-force forceps is finally illustrated and discussed. The novel forceps is expected to serve as a reliable alternative for robot-assisted surgeries.Compliant MechanismForce SensingMedical RobotsRobot-assisted SurgeryShape DesignConstant ContactConstant ForceConstant TorqueElectronic ElementsForce MagnitudeForce RegulationForce SensingLever ArmMedical RobotsOptimal MechanismPassive MechanismPrecise ControlRobot-assisted SurgeryShape DesignsSoft TissueSurgical ManipulationTissue StiffnessCompliant MechanismsFlexible StructuresMachine DesignMechanismsRoboticsRobotsSurgeryTissueSurgical Equipmentconference paper10.1109/ICRA.2011.59795562-s2.0-84871690766