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Technical Brief

Shape Deposition Manufacturing of a Soft, Atraumatic, Deployable Surgical Grasper1

[+] Author and Article Information
Joshua Gafford, Ye Ding, Andrew Harris, Terrence McKenna, Panagiotis Polygerinos

Harvard School of Engineering and Applied Sciences,
Cambridge, MA 02138

Donal Holland

Trinity College Dublin,
College Green, Dublin 2, Ireland

Arthur Moser

Beth Israel Deaconess Medical Center,
Boston, MA 02215

Conor Walsh

Harvard School of Engineering and Applied Sciences,
and Wyss Institute for Biologically-Inspired Engineering,
Cambridge, MA 02138

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7-10, 2014. DOI: 10.1115/1.4027048

2Shared first author.

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030927 (Jul 21, 2014) (3 pages) Paper No: MED-14-1078; doi: 10.1115/1.4027048 History: Received February 21, 2014; Revised March 03, 2014

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References

ZehH., III, Bartlett, D., and Moser, A., 2011, “Robotic-Assisted Major Pancreatic Resection,” Adv. Surg., 45(1), pp. 232–240. [CrossRef]
Binnard, M., and Cutkosky, M., 2000, “A Design by Composition Approach for Layered Manufacturing,” ASME J. Mech. Des., 122(1), pp. 91–101. [CrossRef]

Figures

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Fig. 1

Deployable manipulator prototype

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Fig. 2

Overlay of analytical and empirical finger model showing agreement for a 2 N tensioning force

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Fig. 3

Handle operation: (1) initial state, (2) cable tensioning and ratchet engagement, (3) collar rotation and disengagement, and (4) spring return to initial state

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Fig. 4

SDM of multijointed finger

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Fig. 5

Analytical and measured transmission ratio

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Fig. 6

daVinci simulation storyboard as seen through stereoscope (inset is external view): (a) device retrieval, (b) device positioning around pancreas analog, cable tensioning, and (c) cephalad retraction

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