Optimal Design of the Laparoscopic Grasper Mechanism with Low Friction and Backlash

Nowadays, the remote technique of minimally invasive surgery is a popular surgical method due to its established benefits patients compared with conventional open surgery. However, surgeon’s only contact operated tissue or organ through his instrument, so he feels less. This study focuses on numerical optimization laparoscopic grasper mechanism designed at TU Delft achieve best mechanical properties. The design based rolling kinematic pairs distinguished by minimum friction and backlash revolute pairs. Optimization aimed constant force transmission from handle jaw mechanism, independent position jaw. Constraints potential energy stored in driving compensation springs, their location, axial connecting rod are taken into account. outputs show that it possible close 1, satisfying all constraints. root mean square differences between acting grasping movable whole angular interval 0.1112 N. maximum difference these two forces less than 0.35 N (3.5 % 10 force) beginning end displacement interval. In 70% interval, except 15% subintervals, lowest highest displacements jaw, even 0.1