Grasping of Soft Tissues By Means Of Non-Contact Gripper In Minimally Invasive Surgery

Yıl 2019, Cilt: 7 Sayı: 3, 1335 - 1340, 31.07.2019

Şenol Ertürk , Fehmi Erzincanlı

https://doi.org/10.29130/dubited.518202

Cited By: 1

Öz

Surgeons need grippers to grasp and
handling organs when performing Laparoscopic interventions. These grippers
usually have toothed profile to prevent the slippage of the organs and
therefore, tissue damage may occur during the operation. There should be a
solution to this risk of damage. The tissue can manipulate without pinching or
even touching it. Non-contact grippers that work with Bernoulli principle are
used in the industrial field. The aim of the study investigates the feasibility
of Bernoulli principle for manipulation soft tissues along minimally invasive
surgery. In this study, a contactless gripper working with the principle of
Bernoulli has been developed. Lifting force increases as a result of increasing
the air flow velocity, gripper surface and nozzle radius. In order to prevent
tissue damage, air deflector is used on gripper to change the direction of the
air flow. The robot gripper was designed with venturi channels to increase the
radial flow velocity. The effect of venturi channels on the lifting force were
tested. This study demonstrate that a non-contact gripping device is applicable
to lift flexible materials such as soft tissues in Minimally invasive surgery.

Anahtar Kelimeler

Non-contact handling, Bernoulli gripper

Kaynakça

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