Details
| Original language | English |
|---|---|
| Pages (from-to) | 2363-2370 |
| Number of pages | 8 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 19 |
| Issue number | 12 |
| Early online date | 21 Aug 2024 |
| Publication status | Published - Dec 2024 |
Abstract
Purpose: A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping. Methods: A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries. Results: It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced. Conclusion: Our prototype’s performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use.
Keywords
- Granular jamming gripper, Hybrid gripper, Robot-assisted surgery, Robotic scrub nurse, Surgical instrument grasping
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 19, No. 12, 12.2024, p. 2363-2370.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - HybGrip
T2 - a synergistic hybrid gripper for enhanced robotic surgical instrument grasping
AU - Badilla-Solórzano, Jorge
AU - Ihler, Sontje
AU - Seel, Thomas
N1 - Publisher Copyright: © The Author(s) 2024.
PY - 2024/12
Y1 - 2024/12
N2 - Purpose: A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping. Methods: A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries. Results: It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced. Conclusion: Our prototype’s performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use.
AB - Purpose: A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping. Methods: A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries. Results: It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced. Conclusion: Our prototype’s performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use.
KW - Granular jamming gripper
KW - Hybrid gripper
KW - Robot-assisted surgery
KW - Robotic scrub nurse
KW - Surgical instrument grasping
UR - http://www.scopus.com/inward/record.url?scp=85201595330&partnerID=8YFLogxK
U2 - 10.1007/s11548-024-03245-5
DO - 10.1007/s11548-024-03245-5
M3 - Article
C2 - 39167331
AN - SCOPUS:85201595330
VL - 19
SP - 2363
EP - 2370
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - 12
ER -