Technical Brief

Monolithic Fabrication of Millimeter-Scale Surgical Devices With Integrated Sensing1

[+] Author and Article Information
Joshua B. Gafford, Samuel B. Kesner, Robert J. Wood, Conor J. Walsh

Harvard School of Engineering and Applied Sciences,
Wyss Institute for Biologically Inspired Engineering,
Boston, MA 02115

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014. DOI: 10.1115/1.4027045

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), 030924 (Jul 21, 2014) (2 pages) Paper No: MED-14-1075; doi: 10.1115/1.4027045 History: Received February 21, 2014; Revised March 03, 2014

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Hammond, F. L., Kramer, R. K., Wan, Q., Howe, R. D., Wood, R. J., 2012, “Soft Tactile Sensor Arrays for Micromanipulation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 7-12, pp. 25–32. [CrossRef]
Gafford, J., Kesner, S., Wood, R., and Walsh, C., 2013, “Microsurgical Devices by Pop-Up Book MEMS,” ASME Paper No. DETC2013-13086. [CrossRef]


Grahic Jump Location
Fig. 5

Force profile recorded from a simulated suture needle driving task

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Fig. 4

Demonstration platform used for testing

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Fig. 3

Sensorized grasper implementation, showing detail of signal conditioning and on-board half-bridge

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Fig. 2

(top) Layer-by-layer composite manufacturing of gripper, incorporating structural, sensing and encapsulation sublaminates; (bottom) integrated force-sensing grasper, (middle) post release (flat) and (right) “popped-up” with U.S. penny for scale

Grahic Jump Location
Fig. 1

Grasper actuation showing return spring and internal Sarrus linkage detail




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