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. 2024 Apr 27;14:9686. doi: 10.1038/s41598-024-60574-w

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Experimental environment and forceps with a three-axis force sensor. (a) Forceps with the three-axis force sensor. (b) Box trainer, laparoscopic surgical system, and power measuring systems. (c) Experimental conditions for organ compression from two directions. () indicates the direction of movement of the forceps. () indicates excised porcine kidney. (d) Inside the box trainer during measurement.

Inline graphic — Experimental environment and forceps with a three-axis force sensor. (a) Forceps with the three-axis force sensor. (b) Box trainer, laparoscopic surgical system, and power measuring systems. (c) Experimental conditions for organ compression from two directions. () indicates the direction of movement of the forceps. () indicates excised porcine kidney. (d) Inside the box trainer during measurement.