Automatic synthesis of compliant forceps for robot-assisted minimally invasive surgery

Author:

Sun Yilun1,Xu Lingji1,Zhang Dingzhi1,Lueth Tim C.1

Affiliation:

1. Institute of Micro Technology and Medical Device Technology , Technical University of Munich , Garching , Germany

Abstract

Abstract Due to its monolithic structure and high dexterity, the compliant mechanism becomes an emerging solution to miniaturize surgical forceps for minimally invasive procedures. However, it is complicated and inefficient to use traditional rigid-link-based kinematic method to synthesize compliant forceps. In this paper, we present a topology-optimization-based method to automatically synthesize compliant forceps for robot-assisted minimally invasive surgery (RMIS). The basic geometry modeling tool and the automatic synthesis algorithm were both implemented in Matlab. Several synthesis examples were presented to show the performance of the proposed method. The realized forceps and a continuum manipulator have been constructed and 3D-printed, which demonstrated the application of the automatic synthesis method in RMIS.

Publisher

Walter de Gruyter GmbH

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Design of 3D-Printable Compliant Robotic Grippers Using Solid Geometry Library in MATLAB;2023 IEEE International Conference on Robotics and Biomimetics (ROBIO);2023-12-04

2. Design of 3D-Printed Continuum Robots Using Topology Optimized Compliant Joints;2023 IEEE International Conference on Soft Robotics (RoboSoft);2023-04-03

3. Passive Instrument Holder for Collaborative Robotic Nursing Applications - Automatically Designed and 3D-printed;2021 IEEE International Conference on Robotics and Biomimetics (ROBIO);2021-12-27

4. Design of Bionic Prosthetic Fingers Using 3D Topology Optimization;2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC);2021-11-01

5. SGCL: A B-Rep-Based Geometry Modeling Language in MATLAB for Designing 3D-Printable Medical Robots;2021 IEEE 17th International Conference on Automation Science and Engineering (CASE);2021-08-23

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