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Design, Development and Preliminary Assessment of Grasping Devices for Robotized Medical Applications

[+] Author Affiliations
Olivier Piccin, Nitish Kumar, Laurence Meylheuc, Laurent Barbé, Bernard Bayle

University of Strasbourg, Strasbourg, France

Paper No. DETC2012-70634, pp. 65-73; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


This paper presents the development of NGDs (needle grasping devices) capable of handling elongated objects such as surgical needles. After describing the main demands of medical needle-based procedures, a requirement list for a typical NGD is presented. Some solution principles for a grasping device are generated, combined and then classified to obtain a set of principle variant solutions. The design study of some of these variant solutions is then developed and a discussion on two device candidates constructed using either interconnected rigid bodies or compliant parts will be presented. The mechanical behavior of the compliant mechanism acting on a needle barrel is simulated with a FEM analysis including the model of non-linearities induced by large deformations and the contact between the needle and the grasping device. Functional prototypes of both NGDs have been constructed and a first experimental assessment of their service capability is finally exposed.

Copyright © 2012 by ASME



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