  This study presents a conceptual design of laparoscopic forceps whose
grasping torque can be directly controlled by the user. By integrating an
adjustable constant torque mechanism, the handle opening angle is converted to
the grasping torque irrespective of the jaw opening angle. This feature
overcomes the limitation regarding of the lack of direct haptic feedback in
laparoscopic minimally invasive surgery, preventing damage of delicate tissue
during forceps grasping.
