Soft Graspers for Safe and Effective Tissue Clutching in Minimally Invasive Surgery.
Journal:
IEEE transactions on bio-medical engineering
Published Date:
Dec 21, 2020
Abstract
OBJECTIVE: Surgical graspers must be safe, not to damage tissue, and effective, to establish a stable contact for operation. For conventional rigid graspers, these requirements are conflicting and tissue damage is often induced. We thus proposed novel soft graspers, based on morphing jaws that increase contact area with clutching force.