Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions
Yilun Sun, Yuqing Liu, Lingji Xu, Yunzhe Zou, Angela Faragasso, Tim C. Lueth
Abstract
In this paper, we present a novel method for achieving automatic design of compliant surgical forceps with adaptive grasping functions. Compliant forceps are much easier to assemble and sterilize than conventional rigid-joint forceps, hence their use is spreading from traditional open surgery to robot-assisted minimally invasive applications. However, many compliant forceps still perform stiff grasping, and thus can damage sensitive organs and tissues during the operation. Adaptive grasping function is therefore required for safe manipulation of vulnerable structures. Currently, it is difficult and time consuming to use empirical methods for designing adaptive compliant forceps for different surgical robotic applications. To cope with this problem, we developed a topology-optimization-based method able to synthesize adaptive compliant forceps automatically. Simulation and experimental tests were conducted to evaluate the adaptive grasping function of designed surgical forceps. The results demonstrated that the developed method greatly simplifies the design process and makes it possible to efficiently realize task-specific compliant forceps.