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Technical Brief

A Cable-Driven Grasper With Decoupled Motion and Forces1

[+] Author and Article Information
Baoliang Zhao, Carl A. Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68508

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.DOI: 10.1115/1.4027043

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), 030922 (Jul 21, 2014) (2 pages) Paper No: MED-14-1073; doi: 10.1115/1.4027043 History: Received February 21, 2014; Revised March 03, 2014

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References

Fischer, G. S., Akinbiyi, T., Saha, S., Zand, J., Talamini, M., Marohn, M., and Taylor, R., 2006, “Ischemia and Force Sensing Surgical Instruments for Augmenting Available Surgeon Information,” First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), Pisa, Italy, February 20-22, pp. 1030–1035. [CrossRef]
Sokhanvar, S., Packirisamy, M., and Dargahi, J., 2007, “A Multifunctional PVDF-Based Tactile Sensor for Minimally Invasive Surgery,” Smart Mater. Struct., 16(4), pp. 989–998. [CrossRef]
Seibold, U., Kuebler, B., and Hirzinger, G., 2005, “Prototype of Instrument for Minimally Invasive Surgery With 6-Axis Force Sensing Capability,” IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, April 18-22, pp. 496–501. [CrossRef]
Saha, S., 2005, “Appropriate Degrees of Freedom of Force Sensing in Robot Assisted Minimally Invasive Surgery,” Master's thesis, Johns Hopkins University, Baltimore, MD.
Zhao, B., and Nelson, C. A., 2013, “Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory,” ASME J. Med. Devices7(2), p. 020918. [CrossRef]
Tholey, G., Pillarisetti, A., Green, W., and Desai, J. P., 2004, “Design, Development, and Testing of an Automated Laparoscopic Grasper With 3-D Force Measurement Capability,” International Symposium on Medical Simulation (ISMS 2004), Cambridge, MA, June 17-18, pp. 38–48. [CrossRef]

Figures

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Fig. 1

Force sensor on jaws [1]

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Fig. 2

Force sensor on shaft [4]

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Fig. 6

Clamp force measurement

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Fig. 7

Strain gage attached on cable

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Fig. 8

Protractor measurement of yaw angle

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Fig. 9

Motion comparison between prototype and CAD model

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Fig. 10

Linear relation between cable tension and clamp force

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Fig. 11

Decoupling force between grasp and yaw motions

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