In laparoscopic surgery, long shafted tools are inserted through small incisions in the patient to access the surgery site with the ultimate goal of reducing trauma to the patient and decreasing recovery time. Since surgeons are using these tools to manipulate tissue instead of their hands as they would in open surgery, there is a loss of tactile feedback [1]. With this loss, a surgeon may apply either excessive or insufficient forces to tissues during manipulation. In the case of insufficient force, tissues would slip out of the grasper and surgery time would increase as a result of the repeated actions. When excessive force is applied, inadvertent consequences can arise such as tissue perforations and trauma [2], putting the patient at risk.
Efforts have been made to lessen this risk by either modifying or redesigning graspers. Adding a curved edge to the jaw tip and fitting...
