Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure

Tunable stiffness mechanisms can increase the noninvasiveness and stability of organ manipulation in laparoscopic liver resection. We have developed an organ-grasping device using beam-shaped tunable mechanism. Increasing change ratio will improve performance by offering high flexibility when adhering to surface rigidity during liver; however, optimal design beam has not been investigated. In this study, we investigate wavy structure shape that enhances stiffness. To a high-stiffness state, used principal stress lines edge curve material beams. also investigated arrangement decrease low-stiffness state. Simulation finite element method showed was improved up 13.0 new arranged with uniformly thick bottom waves.