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Related Experiment Video

Updated: Mar 8, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Development and testing of a grasper for NOTES powered by variable stiffness pneumatic actuation.

Michele Gabrio Antonelli¹, Pierluigi Beomonte Zobel¹, Francesco Durante¹

¹Department of Industrial and Information Engineering and Economics, University of L'Aquila, Italy.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|January 13, 2017

Summary

This study introduces a novel variable stiffness actuation (VSA) grasper designed for natural orifice transluminal endoscopic surgery (NOTES) robotic systems. The developed grasper meets design specifications, paving the way for simulated surgical environment testing.

Keywords:

compliant mechanism finite element modelling (FEM)minimally invasive robotic surgery (MIRS)natural orifice surgery variable stiffness actuators (VSA)

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Area of Science:

Robotics
Surgical Technology
Biomedical Engineering

Background:

Natural orifice transluminal endoscopic surgery (NOTES) requires precise robotic systems due to confined operative spaces.
Variable stiffness actuation (VSA) is crucial for enhancing operational precision and patient safety in NOTES.
Existing NOTES systems necessitate advanced end-effectors for complex surgical maneuvers.

Purpose of the Study:

To design and develop a novel grasper with variable stiffness actuation (VSA) for NOTES applications.
To integrate the VSA grasper as an end-effector for snail robot devices.
To characterize and validate the performance of the developed VSA grasper.

Main Methods:

The study involved the design and architectural description of a VSA grasper.
A finite element model was developed for actuator design and validation.
Functional experiments were conducted to assess grasper performance and gripping capabilities.

Main Results:

The finite element model for the VSA actuator was successfully validated.
Characteristic performance curves for the grasper were obtained.
The VSA functionality and the grasper's ability to grip various objects were confirmed.

Conclusions:

The developed VSA grasper meets the technical design specifications for NOTES.
The validated grasper performance supports the development of a control system for simulated surgical testing.
This research advances the potential of robotic systems in minimally invasive surgery.