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In this paper a teleoperation system is presented which consists of a sensorised polymer microgripper as a suitable end effector on an endoscopic microinstrument which is controlled by a novel tweezer-like haptic input device. This tweezer device gives the operator the ability to remotely feel these forces generated by grasping operations with the microgripper. This feedback is used to control the amount of force applied in manipulation of tissues during the procedure. The mechanical and electronic design of the microgripper, microinstrument and haptic tweezers is also presented and preliminary results detailed.

NOVEL HAPTIC TOOL AND INPUT DEVICE FOR BILATERAL BIOMANIPULATION ADDRESSING ENDOSCOPIC SURGERY