Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation

Hongyan Gao, Huanghua Liu, Huan Jia, Zecai Lin, Yun Zou, Zheng Xu, Shaoping Huang, Haoyue Tan, Hao Wu (), Weidong Chen () and Anzhu Gao ()
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Hongyan Gao: Shanghai Jiao Tong University
Huanghua Liu: Shanghai Jiao Tong University
Huan Jia: Shanghai Jiao Tong University School of Medicine
Zecai Lin: Shanghai Jiao Tong University
Yun Zou: Shanghai Jiao Tong University
Zheng Xu: Shanghai Jiao Tong University
Shaoping Huang: Shanghai Jiao Tong University
Haoyue Tan: Shanghai Jiao Tong University School of Medicine
Hao Wu: Shanghai Jiao Tong University School of Medicine
Weidong Chen: Shanghai Jiao Tong University
Anzhu Gao: Shanghai Jiao Tong University

Nature Communications, 2025, vol. 16, issue 1, 1-13

Abstract: Abstract Delicate manual microsurgeries rely on sufficient hands-on experience for safe manipulations. Automated surgical devices can enhance the effectiveness, but developing high-resolution, multi-axis force-sensing devices for micro operations remains challenging. In this study, a 6-axis force-sensing pneumatic forceps with a serial-parallel robotic platform for cochlear implantation is developed. The forceps features a curved body shape embedded with parallel and inclined fiber Bragg grating sensors for 6-axis force sensing, and a pneumatic gripper with decoupled actuation is located at its end for actively grasping and releasing the electrode array. The robotic platform comprises a customized spherical parallel mechanism and a robotic arm, which can provide independent 3-DOF rotations and 3-DOF translations. The feasibility of the developed robotic forceps is validated through cadaveric studies on a temporal bone and a human cadaveric head. In summary, the robotic forceps provides a decoupled mechanism for pneumatic actuation and force sensing, further demonstrating its potential for force interaction and stable operation during robotic microsurgery.

Date: 2025
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DOI: 10.1038/s41467-025-56958-9

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