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

First Page Preview

View Large
First page PDF preview
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


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]


Grahic Jump Location
Fig. 1

Deployable manipulator prototype

Grahic Jump Location
Fig. 2

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

Grahic Jump Location
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

Grahic Jump Location
Fig. 4

SDM of multijointed finger

Grahic Jump Location
Fig. 5

Analytical and measured transmission ratio

Grahic Jump Location
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



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In