Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions

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 rob...

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Veröffentlicht in:	IEEE robotics and automation letters 2020-04, Vol.5 (2), p.1094-1101
Hauptverfasser:	Sun, Yilun, Liu, Yuqing, Xu, Lingji, Zou, Yunzhe, Faragasso, Angela, Lueth, Tim C.
Format:	Artikel
Sprache:	eng
Schlagworte:	Grasping (robotics) mechanism design Medical instruments Medical robots and systems Organs Robotic surgery Robotics surgical robotics: laparoscopy Topology optimization
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