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![]() Title:Design of a Meso-Scale Grasper for Robotic Pediatric Neuroendoscope Tool Authors:Timothy A. Brumfiel, Kent K. Yamamoto, Asif Rashid, Akiyuki Shigematsu, Coley Chapman, Shreyes N. Melkote, Joshua J. Chern and Jaydev P. Desai Conference:HSMR2022 Tags:Grippers and Other End-Effectors, Mechanism Design of Manipulators, Medical Robots and Systems and Tendon/Wire Mechanism Abstract: Many neurosurgical procedures, such as endoscopic third ventriculostomy (ETV), make use of surgical graspers in which 70% of grasping forces are within the range of 0-0.3N. In this work, we develop a tendon-driven robotic grasper for use in flexible robotic endoscopes. The grasper developed consists of several micromachined linkages and a spring-loaded mechanism with an outer diameter of 1.69mm in its closed configuration to be used in a continuum robotic tool with a 1.93mm outer diameter. Finally, the mechanism's grasping force capabilities are evaluated in an experimental setup. Design of a Meso-Scale Grasper for Robotic Pediatric Neuroendoscope Tool ![]() Design of a Meso-Scale Grasper for Robotic Pediatric Neuroendoscope Tool | ||||
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