This paper presents a two-axis Soft Inductive Tactile Sensor (SITS) designed for use on the face of a surgical grasper to detect the slip of tissue. A scaled version of the proposed sensor is manufactured and experimentally characterized, showing high repeatability and low hysteresis. The sensor was then used to detect slip while holding a tissue simulant in laboratory conditions. Slip was initiated in 72 cases with different load conditions and the coefficient of friction was recorded. Results showed the sensor capable of detecting slip on a surface comparable to biological soft tissue and has promise for future surgical use. To show the capabilities of the sensor within a grasping environment, the sensor was then configured into a 3.5mm × 8mm footprint to fit into a representative grasper jaw. The grasper was then used to assess the grasping pressure and shear when used by a consultant urologist, yielding similar applied pressure to previous studies showing its capability to measure force within the size constraints of current laparoscopic instruments.
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