## 1 Introduction
Using the proposed mechanism, the rotation angle can be pressure controlled without being affected by the forceps' posture, even when mounted on the forceps' tip. The authors of the paper [25] tested the effects of improved haptic feedback on force control, interpreting the tissue consistency and the surgeon's level of confidence. The study [26] presented a new handle for laparoscopic instruments. The main novelty of this handle is that the opening and closing motion of the grasper is operated with the thumb using a lever located on the top of the handle. This avoids the use of rings for the fingers for holding or activating the laparoscopic instrument. It reduces the pressure and also pain in the surgeons' hands and fingers. The new handle has a pistol shape to reduce the edges and small contact zones. Tissue clamping and dragging operations in MIS were simulated in [27] by using compress and friction testing under different clamping forces and dragging speeds. The work presented in this paper is part of the first author's broader focus on the optimization of mechanical and mechatronic systems, as shown in the following review of the selected papers. In the paper [28], it is shown that finding numerical values of selected optimization parameters for optimal static balancing of a parallelogram robot mechanism with 6 degrees of freedom and two spring balancing mechanisms can be formulated as an optimization problem. A substantial reduction in the gravitational load on the driving joints is important for reducing the power of the driving servomotors and also leads to simpler and more efficient control systems. The optimization problem was first solved using the Monte Carlo method with interactive reduction of the allowable intervals of the optimization parameters, as described in [29]. The problem was also solved using genetic algorithms, which led to faster and more accurate computations [30]. In [31], the static balancing of different types of mechanisms using spring balancing mechanisms was investigated. The use of a spring balancing mechanism provided a constant force for balancing parallelogram mechanisms of robots and handling devices is presented. Attention was also given to the possibility of balancing robots with variable loads. The objective function expresses the minimization of the driving force effects in the driving joints. For the numerical implementation of the calculations, Matlab optimization toolboxes: Optimization ToolboxFor Use with Matlab, version 5.1, Global Optimization Toolbox For Use with Matlab, version 3.1, and also the GOOD (Generator Of Optimal Designs) program [32] were used. In the paper [33], a matrix method of the mechanism kinematic analysis method was used for the dimensional optimization of a wheel loader mechanism. The objective function expresses the minimization of the rotation of the wheel loader bucket during its stroke. The authors in [34] investigated the oscillation of a horizontal excavator cabin platform with two degrees of freedom with passive, idealized semiactive, and magnetorheological suspension. Its parameters are optimized in a time domain with an objective function expressing the minimization of two conflicting requirements--the frequency-weighted rms value of the platform acceleration and the rms value of the relative displacement between the platform and the excavator cabin. In [35], modeling, control, and optimization of the semiactive suspension of a work machine seat with an air spring and the magnetorheological damper are presented. Three control algorithms--skyhook control, balance control, and their combination--are used to determine the required force of the semiactive damper. The objective function is the rms of the seat acceleration.