12/27/2023 0 Comments Gripper for iphone downloadSimple Finite Element and theoretical modeling frameworks are proposed, based on which a miniature tool-set is designed to achieve the required gripping forces during ONSF. due to the needle motion, and 3) sliding resistance. Based on experiments on various materials, we observed that adding a sticky surface with bio-inspired grooves to a normal suction cup gripper has many advantages such as, 1) enhanced adhesion through material stickiness and by air-tightening the contact surface, 2) maintained adhesion despite internal pressure variations, e.g. The CTR innermost tube is equipped with a needle, providing the pathway for drug delivery, and the immediate outer tube is attached to the suction cup, providing the suction pathway. As a result, there will be no need for an independent gripper arm for an incision task. The proposed prototype in this research, called Gripe-Needle, is a needle equipped with a sticky suction cup gripper capable of performing both gripping of target tissue and incision tasks in the optic nerve area by exploiting the multi-tube arrangement of a CTR for actuation of the different tool-set units. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gripper manipulator for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. 3NIHR Biomedical Research Centre at Moorfields Eye Hospital NHS Foundation Trust, UCL Institute of Ophthalmology, London, United Kingdom. 2Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, United Kingdom.1School of Biomedical Engineering and Imaging Sciences Faculty of Life Sciences and Medicine, King’s College London, London, United Kingdom.Kieran Joymungul 1 Zisos Mitros 1,2 Lyndon da Cruz 1,2,3 Christos Bergeles 1 S.M.Hadi Sadati 1*
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