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.
Subject
Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering
Cited by
6 articles.
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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
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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