A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery

Grames, Clayton L.; Tanner, Jordan; Jensen, Brian D.; Magleby, Spencer P.; Steger, John Ryan; Howell, Larry L.

doi:10.1115/detc2015-46516

Cited by 6 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The 3-mm L-Arm concept as designed has a total of six parts, four of which are unique. A lower part count compared to commercially available instruments could reduce cost and improve the availability of MIS procedures for a broad range of patients [16].…”

Section: Resultsmentioning

confidence: 99%

Inverted L-Arm Gripper Compliant Mechanism

Dearden

Grames

Jensen

et al. 2017

Journal of Medical Devices

Self Cite

View full text Add to dashboard Cite

This work exploits the advantages of compliant mechanisms (devices that achieve their motion through the deflection of flexible members) to enable the creation of small instruments for minimally invasive surgery (MIS). Using flexures to achieve motion presents challenges, three of which are considered in this work. First, compliant mechanisms generally perform inadequately in compression. Second, for a ±90deg range of motion desired for each jaw, the bending stresses in the flexures are prohibitive considering materials used in current instruments. Third, for cables attached at fixed points on the mechanism, the mechanical advantage will vary considerably during actuation. Research results are presented that address these challenges using compliant mechanism principles as demonstrated in a two-degree-of-freedom (2DoF) L-Arm gripper.

show abstract

Section: Resultsmentioning

confidence: 99%

Inverted L-Arm Gripper Compliant Mechanism

Dearden

Grames

Jensen

et al. 2017

Journal of Medical Devices

Self Cite

View full text Add to dashboard Cite

show abstract

“…The design of the joints is also vulnerable to torsion. We carried out preliminary tests on the mechanical properties of the gripper and found that the torsional stiffness can be increased by adding flaps laterally to the joint, as suggested by Grames et al 19 In the current design iteration, we decided to keep the design simple by not introducing additional elements, but in future work, it is advised to take torsion considerations into account in the gripper design.…”

Section: Discussionmentioning

confidence: 99%

Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues

Assenbergh

Culmone

Breedveld

et al. 2020

Proc Inst Mech Eng H

View full text Add to dashboard Cite

Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too low pinch forces and tissue damaging due to too high pinch forces. Here, we prototyped a modular surgical gripper with elastomeric soft pads reinforced in the shear direction with a carbon-fiber fabric. The elastomeric component provides low normal stiffness to maximize contact formation without the need of applying high normal loads (i.e. pinch forces), whereas the carbon-fiber fabric offers high shear stiffness to preserve the formed contact under the lateral loads (i.e. shear forces) that occur during tissue lifting. Additionally, we patterned the pads with a sub-surface micropattern, to further reduce the normal stiffness and increase shear stiffness. The body of the prototype gripper, including shaft, joints, and gripper tips, was fabricated in a single step using 3D printing, followed by manual attachment of the soft pads to the gripper. The gripping performance of the newly developed soft gripper on soft tissues was experimentally compared to reference grippers equipped with metal patterned pads. The soft-pad gripper generated similar gripping forces but significantly lower pinch forces than metal-pad grippers. We conclude that grippers with anisotropic-stiffness pads are promising for secure and gentle tissue grip.

show abstract

“…The traditional compliant rolling-contact element (CORE) joint involves joining two half cylinders with flexures. Derived from CORE, the Split CORE was integrated to a wrist design provided by Intuitive Surgical Inc. to create a 3 DoF gripping mechanism [105]. Lan et al [10] developed an adjustable constant-force forceps for robot-assisted surgical manipulation to aid in grasping soft tissues.…”

Section: Transmissionmentioning

confidence: 99%

Surgical Applications of Compliant Mechanisms: A Review

Thomas

Venkiteswaran

Ananthasuresh

et al. 2021

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) manufacturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.

show abstract

A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery

Cited by 6 publications

References 0 publications

Inverted L-Arm Gripper Compliant Mechanism

Inverted L-Arm Gripper Compliant Mechanism

Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues

Surgical Applications of Compliant Mechanisms: A Review

Contact Info

Product

Resources

About