TiBCLaG: A Trigger-induced Bistable Compliant Laparoscopic Grasper

TL;DR

This paper introduces a novel monolithic, fully compliant, bistable laparoscopic grasper that reduces manufacturing complexity and cost by eliminating rigid links, using elastic energy storage and nonlinear analysis for validation.

Contribution

The work presents a new design for a compliant laparoscopic grasper with integrated trigger and end-effector, validated through finite element analysis and 3D printing, advancing minimally invasive surgical tools.

Findings

Reliable bistable actuation demonstrated in prototype

Design reduces part count and manufacturing costs

Finite element analysis confirms performance and stability

Abstract

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.