An Endoscopic Grasper Tool With Integrated Tactile Sensors for Use in Minimally Invasive Surgery
Bibliographic record
Abstract
In this paper, we report on the design, testing, fabrication, and modeling of a semiconductor-based microstrain gauge endoscopic tactile sensor. This sensor is capable of measuring both the magnitude and the position of an applied load on a commercial endoscopic grasper tool. It consists of two microstrain gauge sensors, placed on the prototype endoscopic grasper. A light emitting diode device is used to visually see the intensity of the applied force. In total, 20 different force magnitudes for 7 different locations on the endoscopic grasper are tested experimentally. The range of force magnitude changes in the domain of 0.5 N to 10 N. The in-house electrical amplification system for the microstrain gauges is also designed, fabricated, and tested. The sensor is insulated and can operate safely in wet environments. The designed sensor assembly exhibits high force sensitivity, good linearity, and large dynamic range. A three-dimensional finite element modeling (FEM) is employed to predict the behavior of the designed system. Based on FEM results, there is a good agreement between these data the results obtained experimentally.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".