Special Section Technical Briefs

Technology Demonstrator for Compliant Statically Balanced Surgical Graspers1

[+] Author and Article Information
Milton Aguirre, Ásþór Tryggvi Steinórsson, Tim Horeman, Just Herder

Mechanical, Maritime,
and Materials Engineering Department,
Delft University of Technology,
Delft 2628 CD, The Netherlands

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13-16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 16, 2015; published online April 24, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(2), 020926 (Jun 01, 2015) (2 pages) Paper No: MED-15-1119; doi: 10.1115/1.4030131 History: Received March 03, 2015; Revised March 16, 2015; Online April 24, 2015

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Lange, D. J., Langelaar, M., and Herder, J. L., 2008, “Towards the Design of a Statically Balanced Compliant Laparoscopic Grasper Using Topology Optimization,” ASME Paper No. DETC2008-49794. [CrossRef]
Tolou, N., and Herder, J. L., 2009, “Concept and Modeling of a Statically Balanced Compliant Laparoscopic Grasper,” ASME Paper No. DETC2009-86694. [CrossRef]
Herder, J. L., 1998, “Conception of Balanced Spring Mechanisms,” ASME 25th Biennial Design Engineering Technical Conference (DETC), Atlanta, GA, Sept. 13–16, ASME Paper No. DETC98/MECH-5934.
Herder, J. L., 2001, “Energy-Free Systems, Theory, Conception and Design of Statically Balanced Spring Mechanisms,” Doctoral thesis, Delft University of Technology, Delft, The Netherlands.


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Fig. 5

Experimental results with calculated of open and close cycle. Force signs correlate with tensile and compressive data.

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Fig. 4

(Left) Donor instrument with integrated stiffness compensation mechanism. Manipulating of φ and δ allows critical stiffness adjustments, (right) blow-up component view of the stiffness compensation mechanism.

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Fig. 3

Technology demonstrator with close ups of stiffness compensator and compliant tool tip

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Fig. 2

(Top-left) Principal mechanism illustrating the principles of static balancing using linear springs [3,4], (top-right) roller joint concept uses a wheel drum supported between elastic sheet supports [4], (bottom) revolute concept: adopted from existing commercial graspers, a prismatic joint transfers rotation input to linear output motion

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Fig. 1

Conceptual partially compliant static-balancing surgical grasper with close up of compliant tool tip and operating force profiles



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