![]() ![]() ![]() The SurgGrip shows passive adaptation through inherent compliance of linear and torsional spring. Our gripper model is designed and fabricated by integrating soft and rigid components through a hybrid approach. 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. 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. ![]()
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