期刊
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
卷 13, 期 2, 页码 -出版社
ASME
DOI: 10.1115/1.4049491
关键词
actuators and transmissions; bio-inspired design; cable-driven mechanisms; compliant mechanisms; folding and origami; grasping and fixturing; mechanism design; mechanism synthesis; medical robotics; microscale mechanisms and robotics; robot design
资金
- European Research Council (ERC) under the European Union's Horizon 2020 Research and Innovation programme (ERC Proof of Concept Grant) [790088]
- Netherlands Organization for Scientific Research (Innovational Research Incentives Scheme VIDI: SAMURAI project) [14855]
- European Research Council (ERC) [790088] Funding Source: European Research Council (ERC)
The article discusses the current status and advantages of using compliant mechanisms (CMs) in surgical interventions, as well as the five important aspects to consider when developing surgical devices. The five major groups of surgical applications of CMs are also evaluated.
Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) maim facturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed.
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