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. Author manuscript; available in PMC: 2014 Dec 24.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2014 Aug;2014:244–251. doi: 10.1109/BIOROB.2014.6913784

Figure 1.

Figure 1

(a) Motorized force-sensing micro-forceps: earlier prototype [17] (left) vs. more compact new prototype (right). (b) Components of the new design: The tip can be easily replaced to accommodate different jaw types for different surgical tasks and prolonged use.