Design of an underactuated compliant gripper for surgery using nitinol

Journal of Medical Devices, Transactions of the ASME

Volumn 3, Issue 1, 2009, Pages

  Doria, Mario ^a   Birglen, Lionel ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DRIVING MECHANISM; ENDOSCOPIC INSTRUMENTS; GRASPED OBJECT; NUMERICAL SIMULATION; OPTIMIZATION PROCEDURES; SUPER-ELASTIC ALLOYS; TRANSMISSION MECHANISMS; UNDERACTUATED;

GRIPPERS;

BIOMATERIAL; NITINOL;

ARTICLE; ENDOSCOPE; EQUIPMENT DESIGN; GRIP STRENGTH; PRECISION GRIP; PROCESS OPTIMIZATION; PRODUCT DEVELOPMENT; SENSITIVITY ANALYSIS; SIMULATION; SURGICAL EQUIPMENT; UNDERACTUATED COMPLIANT GRIPPER;

EID: 77953767336     PISSN: 19326181     EISSN: 1932619X     Source Type: Journal    
DOI: 10.1115/1.3089249     Document Type: Article

References (29)

1. Kota, S., Lu, K.-J., Kreiner, Z., Trease, B., Arenas, J., and Geiger, J., 2005, "Design and Application of Compliant Mechanisms for Surgical Tools," ASME J. Biomech. Eng., 127(6), pp. 981-989. (Pubitemid 41531332)
2. Boudreault, E., 2006, "Conception de Préhenseurs Sous-Actionnés avec Articulations Déformables," MS thesis, Université Laval, QC, Canada.
3. Boudreault, E., and Gosselin, C., 2006, "Design of Sub-Centimetre Underactuated Compliant Grippers," Proceedings of the 2006 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Philadelphia, PA, Paper No. DETC2006-99415.
4. Dollar, A., and Howe, R. D., 2006, "Joint Coupling Design of Underactuated Grippers," Proceedings of the 2006 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Philadelphia, PA, Paper No. DETC2006-99645.
5. Birglen, L., Laliberté, T., and Gosselin, C., 2008, Underactuated Robotic Hands, Springer, New York.
6. Hirose, S., and Umetani, Y., 1978, "The Development of Soft Gripper for the Versatile Robotic Hand," Mech. Mach. Theory, 13, pp. 351-358.
7. Laliberté, T., and Gosselin, C., 2001, "Underactuation in Space Robotic Hands," International Symposium on Artificial Intelligence, Robotics and Automation in Space, Montréal, Canada.
8. Eiselstein, L., 2005, "Review of Fatigue and Fracture Behavior in NiTi," Medical Device Materials III-Proceedings of the Materials and Processes for Medical Devices Conference, Boston, MA, pp. 135-147.
9. Gosselin, C., and Laliberté, T., 1996, "Underactuated Mechanical Finger With Return Actuation," U.S. Patent No. 5 762 390.
10. Birglen, L., and Gosselin, C., 2004, "Kinetostatic Analysis of Underactuated Fingers," IEEE Trans. Rob. Autom., 20(2), pp. 211-221.
11. Birglen, L., 2006, "An Introduction to the Analysis of Linkage-Driven Compliant Underactuated Fingers," 2006 ASME International Design Engineering Technical Conferences, Philadelphia, PA, Paper No. DETC2006-99048.
12. Intuitive Surgical, 2008, "Intuitive Surgical-EndoWrist Instruments," URL: http://www.intuitivesurgical.com/products/endowrist- instruments/index.aspx.
13. De Bona, F., and Munteanu, M. Gh, 2005, "Optimized Flexural Hinges for Compliant Micromechanisms," Analog Integr. Circuits Signal Process., 44, pp. 163-194.
14. Lobontiu, N., 2002, Compliant Mechanisms: Design of Flexure Hinges, CRC, Boca Raton, FL.
15. Montgomery, D. C., 2005, Design and Analysis of Experiments, Wiley, New York.
16. Wilkes, K., and Liaw, P., 2000, "The fatigue behavior of shape-memory alloys," Journal of the Minerals, Metals and Materials Society, 52(10), pp. 45-51.
17. Lin, H., Lin, K., and Cheng, I., 2001, "The Electro-Discharge Machining Characteristics of TiNi Shape Memory Alloys," J. Mater. Sci., 36, pp. 399-404. (Pubitemid 32191102)
18. Wu, M. H., 2001, "Fabrication of Nitinol Materials and Components," Proceedings of the 2001 International Conference on Shape Memory and Superelastic Technologies, pp. 285-292.
19. Shabalovskaya, S., Anderegg, J., Laab, F., Thiel, P., and Rondelli, G., 2003, "Surface Conditions of Nitinol Wires, Tubing, and As-Cast Alloys. The Effect of Chemical Etching, Aging in Boiling Water, and Heat Treatment," J. Biomed. Mater. Res., Part B: Appl. Biomater., 65B(1), pp. 193-203. (Pubitemid 37521393)
20. Birglen, L., and Gosselin, C., 2004, "Optimal Design of 2-Phalanx Underactuated Fingers," Proceedings of the 2004 International Conference on Intelligent Manipulation and Grasping, Genova, Italy, pp. 110-116.
21. de Visser, H., and Herder, J. L., 2000, "Force Directed Design of a Voluntary Closing Hand Prosthesis," J. Rehabil. Res. Dev., 37(3), pp. 261-271.
22. DeJong, K., and Spears, W., 1990, "An Analysis of the Interacting Roles of Population Size and Crossover in Genetic Algorithms," Proceedings of the First Workshop in Parallel Problem Solving From Nature, Springer-Verlag, Berlin, pp. 38-47.
23. Birglen, L., and Gosselin, C., 2003, "On the Force Capabilities of Underactuated Fingers," Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 1139-1145.
24. Birglen, L., and Gosselin, C., 2006, "Optimally Unstable Underactuated Gripper: Synthesis and Applications," 2006 ASME International Design Engineering Technical Conferences, Philadelphia, PA, Paper No. DETC2006-99047.
25. Rudolph, G., 1994, "Convergence Analysis of Canonical Genetic Algorithms," IEEE Trans. Neural Netw., 5(1), pp. 96-101.
26. Dean, A. M., and Voss, D., 1999, Design and Analysis of Experiments, Springer, New York.
27. Birglen, L., and Gosselin, C., 2006, "Force Analysis of Connected Differential Mechanisms: Applications to Grasping," Int. J. Robot. Res., 25(10), pp. 1033-1046. (Pubitemid 44465409)
28. Laliberté, T., and Gosselin, C., 1998, "Simulation and Design of Underactuated Mechanical Hands," Mech. Mach. Theory, 33(1-2), pp. 39-57. (Pubitemid 128387443)
29. MatWeb, 2008, "MatWeb: Material Property Data," URL: http://www.matweb.com/.