Development of Flexible Haptic Forceps Based on the Electro-Hydraulic Transmission System

Kenji Ogawa, Kouhei Ohnishi, Yousef Ibrahim

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Minimally Invasive Surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The Natural Orifice Transluminal Surgery (NOTES) is one of the MIS surgical methodologies. NOTES is surgery using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgent's hands. In order to overcome this problem, this paper proposes Electro Hydraulic Transmission System (EHTS) based forceps.

Original languageEnglish
JournalIEEE Transactions on Industrial Informatics
Publication statusAccepted/In press - 2018 Apr 25


  • Electro Hydraulic Transmission System (EHTS)
  • Haptic Tele-surgery
  • Minimally Invasive Surgery (MIS)
  • Natural Orifice Transluminal Endoscopic Surgery (NOTES)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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