A bio-inspired expandable soft suction gripper for minimal invasive surgery-an explorative design study

被引：8

作者：

Kortman, Vera G. ^{[1
]}

Sakes, Aimee ^{[1
]}

Endo, Gen ^{[2
]}

Breedveld, Paul ^{[1
]}

机构：

[1] Delft Univ Technol, Fac Mech Maritime & Mat Engn, Dept BioMech Engn, Bioinspired Technol Grp BITE, NL-2628 CD Delft, Netherlands

[2] Tokyo Inst Technol, Dept Mech Engn, Tokyo, Japan

来源：

BIOINSPIRATION & BIOMIMETICS | 2023年 / 18卷 / 04期

关键词：

suction cup; vacuum grasper; bio-inspiration; biomimicry; octopus; soft robotics; medical device; CARDIOPULMONARY BYPASS; TISSUE; ADHESION; ATTACHMENT; MECHANISM; MORPHOLOGY; ROUGHNESS; ORGAN; FISH; DISK;

D O I：

10.1088/1748-3190/accd35

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Gripping slippery and flexible tissues during minimal invasive surgery (MIS) is often challenging using a conventional tissue gripper. A force grip has to compensate for the low friction coefficient between the gripper's jaws and the tissue surface. This study focuses on the development of a suction gripper. This device applies a pressure difference to grip the target tissue without the need to enclose it. Inspiration is taken from biological suction discs, as these are able to attach to a wide variety of substrates, varying from soft and slimy surfaces to rigid and rough rocks. Our bio-inspired suction gripper is divided into two main parts: (1) the suction chamber inside the handle where vacuum pressure is generated, and (2) the suction tip that attaches to the target tissue. The suction gripper fits through a null

引用

页数：18

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