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Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation

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  • Hongyan Gao

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

  • Huanghua Liu

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

  • Huan Jia

    (Shanghai Jiao Tong University School of Medicine)

  • Zecai Lin

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

  • Yun Zou

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

  • Zheng Xu

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

  • Shaoping Huang

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University)

  • Haoyue Tan

    (Shanghai Jiao Tong University School of Medicine)

  • Hao Wu

    (Shanghai Jiao Tong University School of Medicine)

  • Weidong Chen

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

  • Anzhu Gao

    (Shanghai Jiao Tong University
    Shanghai Jiao Tong University, and the Key Laboratory of System Control and Information Processing, Ministry of Education)

Abstract

Delicate manual microsurgeries rely on sufficient hands-on experience for safe manipulations. Automated surgical devices can enhance the effectiveness, but developing high-resolution, multi-axis force-sensing devices for micro operations remains challenging. In this study, a 6-axis force-sensing pneumatic forceps with a serial-parallel robotic platform for cochlear implantation is developed. The forceps features a curved body shape embedded with parallel and inclined fiber Bragg grating sensors for 6-axis force sensing, and a pneumatic gripper with decoupled actuation is located at its end for actively grasping and releasing the electrode array. The robotic platform comprises a customized spherical parallel mechanism and a robotic arm, which can provide independent 3-DOF rotations and 3-DOF translations. The feasibility of the developed robotic forceps is validated through cadaveric studies on a temporal bone and a human cadaveric head. In summary, the robotic forceps provides a decoupled mechanism for pneumatic actuation and force sensing, further demonstrating its potential for force interaction and stable operation during robotic microsurgery.

Suggested Citation

  • Hongyan Gao & Huanghua Liu & Huan Jia & Zecai Lin & Yun Zou & Zheng Xu & Shaoping Huang & Haoyue Tan & Hao Wu & Weidong Chen & Anzhu Gao, 2025. "Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation," Nature Communications, Nature, vol. 16(1), pages 1-13, December.
    • Handle: RePEc:nat:natcom:v:16:y:2025:i:1:d:10.1038_s41467-025-56958-9
    DOI: 10.1038/s41467-025-56958-9
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