Shape deposition manufacturing of a soft, atraumatic, and deployable surgical grasper

Joshua Gafford, Ye Ding, Andrew Harris, Terrence McKenna, Panagiotis Polygerinos, Dónal Holland, Conor Walsh, Arthur Moser

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

This paper details the design, analysis, fabrication, and validation of a deployable, atraumatic grasper intended for retraction and manipulation tasks in manual and robotic minimally invasive surgical (MIS) procedures. Fabricated using a combination of shape deposition manufacturing (SDM) and 3D printing, the device (which acts as a deployable end-effector for robotic platforms) has the potential to reduce the risk of intraoperative hemorrhage by providing a soft, compliant interface between delicate tissue structures and the metal laparoscopic forceps and graspers that are currently used to manipulate and retract these structures on an ad hoc basis. This paper introduces a general analytical framework for designing SDM fingers where the desire is to predict the shape and the transmission ratio, and this framework was used to design a multijointed grasper that relies on geometric trapping to manipulate tissue, rather than friction or pinching, to provide a safe, stable, adaptive, and conformable means for manipulation. Passive structural compliance, coupled with active grip force monitoring enabled by embedded pressure sensors, helps to reduce the cognitive load on the surgeon. Initial manipulation tasks in a simulated environment have demonstrated that the device can be deployed though a 15 mm trocar and develop a stable grasp using Intuitive Surgical's daVinci robotic platform to deftly manipulate a tissue analog.

Original languageEnglish (US)
Article number021006
JournalJournal of Mechanisms and Robotics
Volume7
Issue number2
DOIs
StatePublished - 2015
Externally publishedYes

Fingerprint

Robotics
Tissue
Pressure sensors
End effectors
Printing
Friction
Fabrication
Monitoring
Metals
Compliance

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Gafford, J., Ding, Y., Harris, A., McKenna, T., Polygerinos, P., Holland, D., ... Moser, A. (2015). Shape deposition manufacturing of a soft, atraumatic, and deployable surgical grasper. Journal of Mechanisms and Robotics, 7(2), [021006]. https://doi.org/10.1115/1.4029493

Shape deposition manufacturing of a soft, atraumatic, and deployable surgical grasper. / Gafford, Joshua; Ding, Ye; Harris, Andrew; McKenna, Terrence; Polygerinos, Panagiotis; Holland, Dónal; Walsh, Conor; Moser, Arthur.

In: Journal of Mechanisms and Robotics, Vol. 7, No. 2, 021006, 2015.

Research output: Contribution to journalArticle

Gafford, J, Ding, Y, Harris, A, McKenna, T, Polygerinos, P, Holland, D, Walsh, C & Moser, A 2015, 'Shape deposition manufacturing of a soft, atraumatic, and deployable surgical grasper', Journal of Mechanisms and Robotics, vol. 7, no. 2, 021006. https://doi.org/10.1115/1.4029493
Gafford, Joshua ; Ding, Ye ; Harris, Andrew ; McKenna, Terrence ; Polygerinos, Panagiotis ; Holland, Dónal ; Walsh, Conor ; Moser, Arthur. / Shape deposition manufacturing of a soft, atraumatic, and deployable surgical grasper. In: Journal of Mechanisms and Robotics. 2015 ; Vol. 7, No. 2.
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