Proceedings on Automation in Medical Engineering
Vol. 1 No. 1 (2020): Proc AUTOMED

Modelling tools and modelling concepts, ID 037

Automatic synthesis of compliant forceps for robot-assisted minimally invasive surgery

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Yilun Sun (Technical University of Munich), Lingji Xu , Dingzhi Zhang , Tim C. Lueth 

صندلی اداری سرور مجازی ایران Decentralized Exchange


In this paper, we present a novel method to automatically synthesize compliant forceps for robot-assisted minimally invasive surgery. Due to its monolithic structure and high dexterity, the compliant mechanism becomes an emerging solution to miniaturize surgical forceps for minimally invasive procedures. However, it is complicated and inefficient to use traditional rigid-joint-based kinematic method to synthesize compliant forceps. To cope with this problem, we have developed a topology optimization based synthesis method. A realized forceps was presented in the paper which illustrated the synthesis process and demonstrated the efficiency of the proposed method.

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