A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery

Abstract

A new, compact 2 degree-of-freedom mechanism 4.1 mm in diameter suitable for robotically controlled surgical operations is presented. Current commercially available robotically controlled instruments achieve high dexterity defined by three degrees of freedom and relatively confined swept volume at just under 1 cm in diameter. Current smaller diameter instruments result in high part count and large swept volumes (less dexterity). A meso-scale rolling contact gripping mechanism is proposed as an alternative. The manufacturing of the parts is made feasible by Metal Laser Sintering, which can produce parts that are difficult to replicate with traditional manufacturing methods. The resulting instrument has only 6 parts and a small swept volume. Instrument actuation and control by a surgical robotic system is demonstrated.