Publication: The design and analysis of a compliant endosurgical haptic interface grasper by using pseudo-rigid-body method
Date
2002-03-01
Authors
Ridzwan, Mohamad Ikhwan Zaini
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Abstract
In endosurgery, tissue manipulation is performed by long graspers, which have poor
force-reflection property, i.e. they do not reflect the grasping force to the hand of the
surgeon and there exists the possibility to damage delicate tissues. Before this, research
had been done in order to deal with the above problem using the application of a tunable
spring. And it has reduced the output force to 70% from the previous value.
However, the handle and the tunable spring are two separate things. Thus, this paper is
concerned on how to combine the grasper and the tunable spring into a new compliant
mechanism. Analysed using pseudo rigid body method and in same time it is designed
and analysed using IDEAS software. Both results are then compared to the previous
data for further improvement if it is necessary.