3D Capsule Compliant Gripper Based on Shape Optimization for Surgical Manipulation: Enhancing Precision in Lymph Node Isolation

Journal of Mechanisms and Robotics, vol. 17

Abstract

Abstract Compliant grippers hold great promise in improving precision and safety in minimally invasive surgery (MIS), offering versatile solutions for tissue manipulation while minimizing trauma. A novel focus on a capsule-shaped compliant gripper introduces innovative design methodologies, including shape optimization and consideration of axillary lymph node dimensions. By integrating compliant beams internally and optimizing their shape, this gripper offers enhanced precision and adaptability in tissue manipulation, addressing specific challenges in delicate surgical interventions such as lymph node dissection in breast cancer surgery. An isogeometric approach for the analysis of geometrically nonlinear beam structures enables a seamless integration of exact geometry in computer-aided design (CAD) into the analysis framework. It incorporates frictionless beam contact conditions based on a regularized penalty law, which enables an efficient and accurate simulation of the compliant grippers. Optimization results demonstrate the efficacy of the methodology, producing a compliant beam configuration that applies a mean pressure of 204.93 Pa, with a maximized contact area facilitating form closure gripping. Experimental validation using a test bench confirms the consistency of the contact areas predicted by simulations, with force sensor measurements showing good agreement with simulation results in most cases. Minor discrepancies, particularly in higher-pressure regions, are attributed to sensor limitations but do not significantly impact the overall findings. Continued research and refinement of these methodologies are essential for furthering the field of compliant gripper design and its application in medical and surgical contexts.

Authors 7

1. Estefania Hermoza Llanos Aachen Institute of Mechanism Theory

   Pontificia Universidad Católica del Perú · RWTH Aachen University

   Affiliation as printed

   Pontificia Universidad Católica Applied Mechanics, Machines and Mechanisms Group, ,   , ;

   RWTH Aachen University Institute of Mechanism Theory, Machine Dynamics and Robotics, , ,

   Institute of Mechanism Theory, Machine Dynamics and Robotics, https://ror.org/04xfq0f34RWTH Aachen University, Aachen 52062, Germany

2. Myung-Jin Choi Aachen Institute of Structural Analysis and Dynamics

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University Institute of Structural Analysis and Dynamics, , ,

   Institute of Structural Analysis and Dynamics, https://ror.org/04xfq0f34RWTH Aachen University, Aachen 52074, Germany

3. Roger A. Sauer

   Ruhr University Bochum

   Affiliation as printed

   Ruhr University Bochum Institute for Structural Mechanics, , ,

   Institute for Structural Mechanics, https://ror.org/04tsk2644Ruhr University Bochum, Bochum 44801, Germany

4. Burkhard J. Corves Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University Institute of Mechanism Theory, Machine Dynamic and Robotics, , ,

   Institute of Mechanism Theory, Machine Dynamic and Robotics, RWTH Aachen University, Aachen 52062, Germany

5. Mathias Huesing Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University Institute of Mechanism Theory, Machine Dynamic and Robotics, , ,

   Institute of Mechanism Theory, Machine Dynamic and Robotics, https://ror.org/04xfq0f34RWTH Aachen University, Aachen 52062, Germany

6. Sven Klinkel Aachen Chair of Structural Analysis and Dynamics

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University Chair of Structural Analysis and Dynamics, , ,

   Chair of Structural Analysis and Dynamics, RWTH Aachen University, Aachen 52074, Germany

7. Anupam Saxena

   Indian Institute of Technology Kanpur

   Affiliation as printed

   Indian Institute of Technology Kanpur Mechanical Engineering Department, , ,

   Mechanical Engineering Department, https://ror.org/05pjsgx75Indian Institute of Technology Kanpur, Kanpur 208016, India