Design and Analysis of a Robotic Articulating Laparoscopic Instrument End Effectors

Abstract

Laparoscopic surgery has many advantages compared to open surgeries that makes it a better choice. For this study, the design and analysis of different robotic articulation laparoscopic instrument end effectors were explored. The optimal design including the constraints encountered in actual applications of the shears, graspers, and electrocauteries were also explored. The design verification was done through the use of finite element analysis and kinematic analysis using the CATIA simulation software. The simulation result and data shows the range of displacements and maximum Von Mises stress that each component will undergo, and including the thermal characteristic of the electro cauterizer.