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This paper introduces a monolithic, fully compliant laparoscopic grasper, TiBCLaG, that reduces part count by eliminating rigid links and utilizing bistable mechanisms for stable grasping. The grasper integrates a compliant trigger, synthesized using a Two-Element Beam Constraint Model to control deformation and stiffness, and a compliant gripper end-effector for adaptive grasping. Finite element analysis and a 3D-printed prototype validate the bistable actuation and grasping performance of the design.
A single 3D-printed part can replace complex multi-link laparoscopic graspers, slashing manufacturing costs while maintaining reliable bistable actuation.
Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concept validation of a monolithic, fully compliant, bistable, laparoscopic grasper that eliminates the need for multiple rigid links, thereby reducing part count. The device integrates a compliant trigger and a compliant gripper end-effector, coupled via a control push-rod, to achieve stable grasping without continuous user input. The trigger mechanism is synthesized using a Two-Element Beam Constraint Model as a design framework to control the deformation and stiffness of V-beam-like elements. This technique enables elastic energy storage while preventing snap-through instability. The end-effector is designed as a compliant gripper to achieve adaptive grasping through elastic deformation. Jaws'opening-and-closing performance is demonstrated using nonlinear finite element analysis. The laparoscopic design presented here is fabricated using fused deposition 3D printing. The fabricated prototype demonstrates reliable bistable actuation, confirming the feasibility of such compliant laparoscopic grasper architectures.
