Compliant Surgical Grasper Monolithic Jaw Design

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Solution Overview

Problem

During endoscopic surgery, traditional graspers apply high pressures that cause tissue trauma due to non-uniform pressure distribution, leading to unwanted damage.

Innovation Solution

The development of a fully compliant grasper with jaws made from a monolithic compliant material that deforms upon interaction with tissue, allowing for a more uniform pressure distribution and atraumatic grasping, using materials like shape memory alloys and elastic materials.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If traditional rigid graspers are used to grasp tissue, then firm grasping force is achieved, but high peak pressures cause tissue trauma

Engineering Contradiction:

Improvegrasping forceVSAvoidtissue trauma

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

The patent changes the material parameter of the grasper jaw from rigid to compliant material. This parameter change allows the jaw to deform under load, distributing the grasping force over a larger contact area and reducing peak pressures that cause tissue trauma, while still maintaining sufficient grasping force to hold tissue securely

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent employs composite material construction where the grasper jaw combines compliant material properties to achieve both soft tissue interaction and structural integrity. The compliant material allows the jaw to conform to tissue contours, distributing pressure evenly while maintaining the mechanical strength needed for firm grasping

Inventive Principle:

Principle #40Composite materials

2Object-affected harmful factors

If compliant material is used in the grasper jaw, then tissue trauma is reduced, but grasping firmness may be compromised

Engineering Contradiction:

Improvetissue traumaVSAvoidgrasping firmness

Core Design Contradiction:

Object-affected harmful factorsVSStrength

Solution Approach 1:

The patent carefully selects and tunes the mechanical parameters of the compliant material, such as elastic modulus and hardness, to achieve the optimal balance. The material is sufficiently compliant to distribute pressure and prevent trauma, yet maintains enough structural strength to provide firm grasping force when actuated

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The compliant jaw exhibits dynamic behavior where it deforms elastically under load to distribute pressure, then maintains a stable deformed shape during grasping. This dynamic response allows the jaw to adapt to tissue contours while maintaining consistent grasping force throughout the surgical procedure

Inventive Principle:

Principle #15Dynamics

3Ease of manufacture

If a monolithic compliant member is used, then manufacturing cost is reduced, but achieving precise actuation becomes more difficult

Engineering Contradiction:

Improvemanufacturing costVSAvoidactuation precision

Core Design Contradiction:

Ease of manufactureVSEase of operation

Solution Approach 1:

The patent segments the actuation mechanism from the compliant jaw member. The actuation system uses traditional rigid components (links, pivots, actuators) that can be precisely controlled, while the compliant jaw is a separate monolithic component that passively deforms in response to the actuation forces, achieving both precise control and manufacturing simplicity

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces an intermediary transmission mechanism between the actuator and the compliant jaw. This intermediary system translates precise actuator movements into controlled forces that deform the compliant jaw in a predictable manner, maintaining actuation precision while allowing the jaw itself to be a simple monolithic compliant component

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The compliant grasper reduces tissue trauma by distributing pressure evenly, enabling soft yet firm grasping and minimizing damage during surgical procedures.

Implementation Method 1

each of the first and the second grasping arms are made from a compliant material... allowing the grasper to deform as it interacts with the tissue, the grasper can apply a more uniform pressure during grasping

Methodology Applied

Scientific EffectElastic deformation: Elasticity