Technical Brief

Design of a Stiff Steerable Grasper for Sinus Surgery1

[+] Author and Article Information
Andria A. Remirez, Ray A. Lathrop, Paul T. Russell, III, Robert J. Webster, III

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7-10, 2014. DOI: 10.1115/1.4027036

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), 030915 (Jul 21, 2014) (2 pages) Paper No: MED-14-1066; doi: 10.1115/1.4027036 History: Received February 21, 2014; Revised March 03, 2014

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Copyright © 2014 by ASME
Topics: Design , Surgery
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Kennedy, D. W., 1985, “Functional Endoscopic Sinus Surgery. Technique,” Archiv. Otolaryngol., 111(10), pp. 643–649. [CrossRef]
Webster, R. J., III and Jones, B. A., 2010, “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review,” Int. J. Robot. Res., 29(13), pp. 1661–1683. [CrossRef]
Simaan, N., Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Taylor, R., and Flint, P., 2009, “Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat,” Int. J. Rob. Res., 28(9), pp. 1134–1153. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

Placement of an endoscope and a traditional rigid grasper tool during endonasal surgery. One hand (not pictured) holds the endoscope, while the other (pictured) holds the rigid grasper.

Grahic Jump Location
Fig. 2

(a) CAD model of tool design, and (b) prototype of tool

Grahic Jump Location
Fig. 3

Multi-backbone bending mechanism with grasper

Grahic Jump Location
Fig. 4

Prototype deflecting upward under hand control




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