Multichannel soft microfluidic force sensors: design, characterization, and application in laparoscopy (opens in new tab)

This work presents the design, fabrication, and characterization of multichannel soft microfluidic force sensors for integration with laparoscopic graspers. The sensors consist of PDMS structures encapsulating Galinstan-filled microchannels, where applied forces induce structural deformation and a corresponding increase in electrical resistance. Fabrication is achieved through 3D printing and PDMS molding under cleanroom-free conditions, enabling cost-effective and reproducible sensor product...