Design and Application of Compliant Mechanisms for Surgical Tools

[+] Author and Article Information
S. Kota, Z. Kreiner, B. Trease

Department of Mechanical Engineering,  The University of Michigan, Ann Arbor, MI

K.-J. Lu

Department of Mechanical and Aerospace Engineering,  The George Washington University, Washington, DC

J. Arenas

Transplant Institute,  Henry Ford Hospital, Detroit, MI

J. Geiger

Department of Surgery,  The University of Michigan, Ann Arbor, MI

J Biomech Eng 127(6), 981-989 (Jul 26, 2005) (9 pages) doi:10.1115/1.2056561 History: Received April 19, 2005; Revised July 26, 2005

This paper introduces the benefits of exploiting elasticity in the engineering design of surgical tools, in general, and of minimally invasive procedures, in particular. Compliant mechanisms are jointless mechanisms that rely on elastic deformation to transmit forces and motion. The lack of traditional joints in these single-piece flexible structures offers many benefits, including the absence of wear debris, pinch points, crevices, and lubrication. Such systems are particularly amenable to embedded sensing for haptic feedback and embedded actuation with active-material actuators. The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications. Compliant systems have potential to integrate well within the constraints of laparoscopic procedures and telerobotic surgery. A load-path representation is used within a genetic algorithm to solve two gripper example problems. In addition, the paper illustrates the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.

Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

Illustration of the typical two-stage approach for compliant mechanism synthesis: (a) Stage I: topology synthesis, and (b) Stage II: dimensional synthesis

Grahic Jump Location
Figure 2

(a) Compliant gripper example to illustrate the different load paths in a structure and (b) the associated topology graph

Grahic Jump Location
Figure 3

Connectivity concept in the load-path representation. Load paths can connect essential ports directly or indirectly through intermediate connection ports.

Grahic Jump Location
Figure 4

(a) Fully connected topology graph of a compliant mechanism. (b) Although the path sequences are identical to those in (a), different intermediate port locations render different geometries in the compliant mechanisms.

Grahic Jump Location
Figure 5

Problem specification of a compliant gripper, using Max. MPE as the objective function. The gripper is symmetric about x-axis, thus only the upper half is modeled.

Grahic Jump Location
Figure 6

Half-model result from the load-path synthesis approach (left), and a full-model verification in ANSYS (right)

Grahic Jump Location
Figure 7

Prototype of the compliant gripper in its inactive mode (left) and gripping mode (right)

Grahic Jump Location
Figure 8

Problem specification of a compliant gripper, using min. LSE as the objective function. Only one finger of the gripper is modeled.

Grahic Jump Location
Figure 9

Result obtained from the load-path synthesis approach (left) and verification in ANSYS (right)

Grahic Jump Location
Figure 10

A CAD model of the compliant kidney gripper. Beam cross sections are all 3mm×0.9mm.

Grahic Jump Location
Figure 11

Closed position. Kidney gripper shown with the compliant fingers contained within the 1.5 cm dia tube

Grahic Jump Location
Figure 12

Open position. As the external tube is retracted, the fingers open to nominal position

Grahic Jump Location
Figure 13

Fabricated 7-DOF kidney-gripper prototype

Grahic Jump Location
Figure 14

Compliant kidney gripper and manipulator for use in laparoscopic surgery

Grahic Jump Location
Figure 15

Stating point topology for a gripper arm, shown in the nominal, open position

Grahic Jump Location
Figure 16

Points used as an initial topology guess for the organ manipulator. The beams are defined by the nodes that they connect. Out-of-plane width is 3 mm.

Grahic Jump Location
Figure 17

Surgical tool cross section with manipulator arm orientations. The rectangles represent the width and thickness boundaries of the design domain for each of the gripper arms.

Grahic Jump Location
Figure 18

Optimized topology for the manipulator arm

Grahic Jump Location
Figure 19

Final manipulator-arm topology

Grahic Jump Location
Figure 20

Some relevant dimensions of the kidney manipulator




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In