 Thanks for joining in. This is Milton presenting a multi-modal mechanism for enhancing haptics and safety in handheld surgical grasping. Laparoscopy is a form of minimally invasive surgery performed with a camera and long-sunder instruments. Instead of surgeons using their hands, surgeons use a five-millimeter grasper to manipulate and palpate tissue. However, state-of-the-art has been known to distort a surgeon's sense of touch. In this demonstration video, we replace the conventional rigid-body mechanism tooltip with a single-piece compliant mechanism tooltip. The principles of operation remain the same, whereby the conventional stiff-hinged assembly introduces friction and play between moving parts. The compliant mechanism tooltip eliminates that friction and play while enhancing control between intermediate positions. State-of-the-art is also known to apply nonlinear pinch forces that can lead to pinch points and tissue slippage. A compliant tooltip can conform around the shape of tissue for optimal distribution of pinch force. It's been reported in literature that hazardous forces can go undetected at the instrument handle when using state-of-the-art. Our multimodal mechanism is customized to buckle upon reaching a predetermined maximum pinch force, which can be felt at the handle. This feature can prevent and create awareness of hazardous pinch forces before it transfers to tissue. When grasping and lifting tissue with using using the state-of-the-art, stiff-hinged assemblies are prone to dictating the motion trajectory. A compliant tooltip can conform to the shape of lift like a wrist rotating while picking up an object. This multimodal mechanism can introduce distinctive kinesthetic and cutaneous force feedback cues during tissue grasping. Similar mechanisms have been researched in human-machine interaction, whereby a series elastic element can be introduced between the driver and the applied load to convert the typical force control problem into a displacement control problem. Our research has mapped the stiffness characteristics of this multimodal mechanism to demonstrate that its properties may prevent and create awareness of hazardous forces through buckling and intentional contact. Comparison plots show a constant force slope, and a negative stiffness profile that generates a click then regains its ability to transmit force. Currently, our engineering team is recruiting end users to participate in end user validation. Thank you for your time and see you this March!