Utilising Incipient Slip for Grasping Automation in Robot Assisted Surgery

Despite recent advances in modern surgical robotic systems, an ongoing challenge remains their limited ability to control grasp force. This can impair performance as a result of either tissue slippage or trauma from excessive In this work we investigate force strategy address based on the detection incipient slip. Our approach employs grasper face whose shape is engineered encourage preferential localised slips that be sensed using embedded displacement sensors prior gross slip occurring. novel enables closed loop grasping prevent whilst applying minimal paper first demonstrate efficacy sensing and then how form robust system maintain stable tissue. Results achieve equivalent scheme employing fixed maximal while reducing loading, thus risk trauma. provides foundation for development automated robots with adaptive control.