Technical Briefs

Experimental Analysis of Jaw-Tissue Interaction Forces Using a Compliant Surgical Grasper

[+] Author and Article Information
Carl Nelson

Dept. Mechanical & Materials Engineering,
Univ. of Nebraska, Lincoln

Brittany Woodin

Dept. Biomedical Engineering,
Univ. of Iowa

Linxia Gu

Dept. Mechanical & Materials Engineering,
Univ. of Nebraska, Lincoln

Manuscript received March 15, 2013; final manuscript received May 1, 2013; published online June 12, 2013. Editor: Arthur G. Erdman.

J. Med. Devices 7(2), 020917 (Jun 12, 2013) (2 pages) Paper No: MED-13-1061; doi: 10.1115/1.4024429 History: Received March 15, 2013; Revised May 01, 2013

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Westebring-van der Putten, E. P., van den Dobbelsteen, J .J., Goossens, R. H. M., Jakimowicz, J. J., and Dankelman, J., 2009, “Effect of Laparoscopic Grasper Force Transmission Ratio on Grasp Control,” Surgical Endoscopy, 23(47), pp. 848–824. [CrossRef]
Heijnsdijk, E. A. M., deVisser, H., Dankelman, J., and Gouma, D. J., 2004, “Slip and Damage Properties of Jaw of Laparoscopic Graspers,” Surgical Endoscopy, 18(6), pp. 974–979. [CrossRef] [PubMed]
Shakeshaft, A. J., Cartmill, J. A., Walsh, W. R., and Martin, C. J., 2001, “A Curved Edge Moderates High Pressure Generated by a Laparoscopic Grasper,” Surgical Endoscopy, 15(10), pp. 1232–1234. [CrossRef] [PubMed]
Marucci, D. D., Cartmill, J. A., Martin, C. J., and Walsh, W. R., 2002, “A Compliant Tip Reduces the Peak Pressure of Laparoscopic Graspers,” Australian and New Zealand Journal of Surgery, 72(7), pp. 476–478. [CrossRef]
Schostek, S., Schuur, M. O., Buess, G. F., 2009, “Review on Aspects of Artificial Tactile Feedback in Laparoscopic Surgery,” J. Med. Eng. Phys., 31(8), pp. 887–898. [CrossRef]
deVisser, H., Heijnsdijk, E. A. M., Herder, J. L., and Pistecky, P. V., 2002, “Forces and Displacements in Colon Surgery,” Surgical Endoscopy, 16(10), pp. 1426–1430. [PubMed]
Sliker, L. J., Wang, X., Schoen, J. A., and Rentschler, M. E, 2010, “Micropatterned Treads for In Vivo Robotic Mobility,” J. Med. Devices, 4(4), p. 041006 [CrossRef]
Goyzueta, A., Nelson, C. A., 2012, “Design of an Atraumatic Compliant Surgical Grasper,” Journal of Medical Devices, 6(1), p. 017544.1


Grahic Jump Location
Fig. 1

Simple grasper for testing purposes

Grahic Jump Location
Fig. 2

(a) The jaws open when the rod is pushed. (b) The jaws close when the rod is pulled.

Grahic Jump Location
Fig. 3

Pinch force test fixture

Grahic Jump Location
Fig. 4

Compliant grasper pinch force




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