Forceps with direct torque control

This study presents a conceptual design of laparoscopic forceps whose grasping torque can be directly controlled by the user. By integrating an adjustable constant torque mechanism, the handle opening angle is converted to the grasping torque irrespective of the jaw opening angle. This feature overcomes the limitation regarding of the lack of direct haptic feedback in laparoscopic minimally invasive surgery, preventing damage of delicate tissue during forceps grasping.