HybGrip: a synergistic hybrid gripper for enhanced robotic surgical instrument grasping
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| Název: | HybGrip: a synergistic hybrid gripper for enhanced robotic surgical instrument grasping |
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| Autoři: | Jorge Badilla-Solórzano, Sontje Ihler, Thomas Seel |
| Zdroj: | Int J Comput Assist Radiol Surg |
| Informace o vydavateli: | Springer Science and Business Media LLC, 2024. |
| Rok vydání: | 2024 |
| Témata: | Robotic scrub nurse, 0209 industrial biotechnology, Hand Strength, Surgical instrument grasping, Equipment Design, 02 engineering and technology, Surgical Instruments, Original Article, Surgical Instruments [MeSH], Hand Strength/physiology [MeSH], Robot-assisted surgery, Humans [MeSH], Hybrid gripper, Equipment Design [MeSH], Granular jamming gripper, Robotic Surgical Procedures/methods [MeSH], Robotic Surgical Procedures/instrumentation [MeSH], 03 medical and health sciences, 0302 clinical medicine, Robotic Surgical Procedures, Humans |
| Popis: | Purpose A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping. Methods A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries. Results It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced. Conclusion Our prototype’s performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use. |
| Druh dokumentu: | Article Other literature type |
| Jazyk: | English |
| ISSN: | 1861-6429 |
| DOI: | 10.1007/s11548-024-03245-5 |
| DOI: | 10.15488/18735 |
| Přístupová URL adresa: | https://pubmed.ncbi.nlm.nih.gov/39167331 https://repository.publisso.de/resource/frl:6507810 |
| Rights: | CC BY |
| Přístupové číslo: | edsair.doi.dedup.....359cf6638101e1e807742a3b4e6113af |
| Databáze: | OpenAIRE |
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Nájsť tento článok vo Web of Science | Abstrakt: | Purpose A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping. Methods A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries. Results It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced. Conclusion Our prototype’s performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use. |
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| ISSN: | 18616429 |
| DOI: | 10.1007/s11548-024-03245-5 |