SurgGrip: a compliant 3D printed gripper for vision-based grasping of surgical thin instruments.

ABSTRACT: This paper presents a conceptual design and implementation of a soft, compliant 3D printed gripper (SurgGrip), conceived for automated grasping of various surgery-based thin-flat instruments. The proposed solution includes (1) a gripper with a resilient mechanism to increase safety and better adaptation to the unstructured environment; (2) flat fingertips with mortise and tenon joint to facilitate pinching and enveloping based grasping of thin and random shape tools; (3) a soft pad on the fingertips to enable the high surface area to maintain stable grasping of the surgical instruments; (4) a four-bar linkage with a leadscrew mechanism to provide a precise finger movement; (5) enable automated manipulation of surgical tools using computer vision. Our gripper model is designed and fabricate

SUBMITTER: Kim J 

PROVIDER: S-EPMC9618027 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature