Conference Paper Development of a surgical instrument using an elastic vibration wing mechanism

Ota, Ren  ,  Yamamoto, Ikuo  ,  Lawn, Murray  ,  Nagayasu, Takeshi  ,  Yamasaki, Naoya  ,  Matsumoto, Keitaro  ,  大田, 廉  ,  山本, 郁夫  ,  Lawn, Murray  ,  永安, 武  ,  山崎, 直哉  ,  松本, 桂太郎

Description
In the field of surgery the ability to handle organs and their associated systems in a stable yet delicate manner is of paramount importance for both the patient and the surgeon to ensure operation efficacy. This paper focuses on the development of flexible tipped surgical forceps. The mechanism is based on a previously developed “elastic vibration wing” which is biomimicry of the propulsion mechanism of a typical fish. The flexible forceps distributes pressure through a network of articulated linkages in order to softly envelop the object to be held. This mechanism was specifically designed for use in endoscopic surgery, however it could also be used in robotics where gentle grasp of an object is required at the end of a robotic arm. The mechanism was designed in 3D-CAD and conceptually prototyped using a 3D printer.
Meeting Information: First International Symposium on Flutter and its Application (May 15-17, 2016. Mielparque-tokyo), Minato-ku, Tokyo, Japan
Physical characteristics: Original contains color illustrations
形態: カラー図版あり
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https://repository.exst.jaxa.jp/dspace/bitstream/a-is/612479/1/AA1630046042.pdf

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