Measurement of the Physical Properties during Laparoscopic Surgery Performed on Pigs by Using Forceps with Pressure Sensors

Table 2

The results of the experiments.

	Pulling/ directional force (N)	Gripping force (N)
(A) Rupture the kidney	5	4
(B) Grip the gonadal vein	—	2 (soft)–17 (strong)
(B) Pull on the gonadal vein	3	8–15
(C) Pull on the renal artery	3	15–20
(D) Pull on the renal vein	2	15–20
(E) Pull on the ureter	2	10–16
(F) Grip the liver softly	—	2–4
(G) Grip the liver strongly	—	18–42
(H) Grip and pull on the liver	9	26
(I) Grip the kidney softly	—	10–13
(J) Grip the kidney strongly	—	11–18
(K) Grip and pull on the kidney	4	12