Figure 6
From: Two-way least-incision transformable end-effector forceps for robot-assisted surgery

(a) Measurement of grasping force achieved using motor drive (b) Measurement of grasping force achieved using handpiece.
From: Two-way least-incision transformable end-effector forceps for robot-assisted surgery
(a) Measurement of grasping force achieved using motor drive (b) Measurement of grasping force achieved using handpiece.