Mechanical design usually applies a kinematic perspective. Desired motion is taken as point of departure for the type and dimension synthesis of a linkage. Next, actuators are added to enforce this motion at the desired velocity. In addition to this movement directed design approach, also desirable force configurations can provide a useful design perspective. Awareness of forces seems to stimulate the design of simple and efficient mechanisms. This paper aims to illustrate a simple form of a force directed design approach with an example from medical technology. A purely mechanical laparoscopic grasping instrument with extraordinary mechanical efficiency is presented, which enables surgeons to clearly perceive several physiological properties, such as stiffness of tissue and the pulse of arteries.

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