HybGrip: a synergistic hybrid gripper for enhanced robotic surgical instrument grasping.

Our prototype's performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use.