Design, Modeling and Simulation of An Omnidirectional Steerable Surgical Forceps for Laparoscopic Surgery

Xiaolong Zhu,Xiao Xiao,Hongliang Ren,Max Q.-H. Meng

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)（2021）

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摘要

Laparoscopic surgery is one of the most representative applications of minimally invasive surgeries. In this paper, we present a miniature omnidirectional steerable surgical forceps (OSSF), which is driven by superelastic Ni-Ti wires. The proposed OSSF allows the superelastic Ni-Ti wires to be deformed locally, thereby minimizing its bending radius while reducing the number of mechanical parts. Th...

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