Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

Gafford, Joshua B.; Ding, Ye; Harris, Andrew P.; McKenna, Terrence; Polygerinos, Panagiotis; Holland, Dónal; Walsh, Conor J.; Moser, A. James

doi:10.1115/1.4029493

Cited by 48 publications

(27 citation statements)

References 10 publications

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“…This concept has been further developed via the selective underactuation of the M 2 Gripper, which provides a simple control method for selecting various grasp types and in-hand manipulation. Past work [15] Fig . 5 Example of the robot hand's ability to pull-in and push-out objects via sliding against the static thumb, inspired by a human manipulation strategy to execute pinch-to-power and power-to-pinch motions Fig.…”

Section: Discussion and Applicationsmentioning

confidence: 97%

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

Raymond

Spiers

Dollar

2015

Mechanisms and Machine Science

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In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modular thumb with varying degrees of passive compliance and a dexterous, tendon-driven forefinger that can produce either underactuated or fully-actuated behaviors. With only two actuators and basic open-loop control, the hand is able to adaptively grasp objects of varying geometries, pinch-grasp smaller items, and perform some degree of in-hand manipulation via rolling and controlled sliding. We also detail the properties of this hand morphology that make it well-suited for future work in medical applications, haptic exploration, and studies on controlled stick-slip manipulation tasks.

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Section: Discussion and Applicationsmentioning

confidence: 97%

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

Raymond

Spiers

Dollar

2015

Mechanisms and Machine Science

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“…With the vast majority of the current instruments for surgical robots made from metal or other high-stifness materials, soft robots bear the potential to ofer soft alternatives for speciic situations. A soft robotic grasper was developed for atraumatic tissue handling in robotic surgery, as a safe interface between the rigid surgical instrument and the delicate human organ [155]. The preliminary results were very promising for the future application of soft robotics into surgical systems.…”

Section: Soft Robotics For Surgical Applicationsmentioning

confidence: 92%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

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“…Tendon-driven mechanisms use flexible cables to deliver the driving force to the joints, and the cables play a similar role as tendons in human hands. Besides, an increasing number of the soft grippers [29][30][31], dexterous hands [32][33][34][35] and parallel manipulators [36] adopt the tendon transmission.…”

Section: Introductionmentioning

confidence: 99%

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Qiao

Liu

Guo

et al. 2018

Chin. J. Mech. Eng.

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Capture is a key component for on-orbit service and space debris clean. The current research of capture on-orbit focuses on using special capture devices or full-actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are noncooperative targets. To capture non-cooperative targets in space, a lightweight, less driven under-actuated robotic hand is proposed in this paper, which composed by tendon-pulley transmission and double-stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5 m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under-actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under-actuated robotic hand can satisfy the grasp requirements. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

Cited by 48 publications

References 10 publications

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

The Next-Generation Surgical Robots

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

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