Purpose Retinal microsurgery requires extremely delicate manipulation of retinal tissue where tool-to-tissue interaction forces are usually below the threshold of human perception. Creating a force-sensing surgical instrument that measures the forces directly at the tool tip poses great challenges due to the interactions between the tool shaft and the sclerotomy opening. Methods We present the design and analysis of a force measurement device that senses distal forces interior to the sclera using 1-cm long, 160 µm diameter Fiber Bragg Grating (FBG) strain sensors embedded in a 0.5 mm diameter tool shaft. Additionally, we provide an algorithm developed to cancel the influence of environmental temperature fluctuations. Results The force-sensing prototype measures forces with a resolution of 0.25 mN in 2 DOF while being insensitive to temperature. Conclusion Sub-millinewton resolution force sensors integrated into microsurgical instruments are feasible and

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Abstract-In line with minimally invasive surgery (MIS), flexible endoscopy is used to inspect and treat disorders of the gastrointestinal (GI) tract without the need for creating an artificial opening on the patient's body. Simple surgical procedures (like polypectomy and biopsy) can be performed by introducing a flexible tool via a working channel to reach the site of interest at the distal end. More technically demanding surgical procedures like hemostasis for arterial bleeding, and suturing to mend a perforation cannot be effectively achieved with conventional flexible endoscopy. The proposed masterslave robotic system enables the endoscopist to perform technically demanding therapeutic procedures which are currently performed only by surgeons in an opened surgery setting. The robotic system consists of a master console and a slave. The latter is a cable driven flexible robotic manipulator that can be inserted into the tool channel of existing endoscopes or attached in tandem to the endosopes. Together with the real time endoscopic view, the endoscopist would be capable of performing more intricate and difficult surgical procedures using natural orifices to access the gastrointestinal tract thus eliminating any scars on the patient.

In this chapter, authors try to explain and develop a robot for medical application. Some robot is already working with doctor and some is under improvement stage.  Master and Slave Transluminal Endoscopic Robot (MASTER) with 9 degree of freedom (DOF) end effectors which are long and flexible so as to enhance endoscopic procedures and notes.