WO2014196928A1 - Dispositif de préhension - Google Patents

Dispositif de préhension Download PDF

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Publication number
WO2014196928A1
WO2014196928A1 PCT/SG2014/000254 SG2014000254W WO2014196928A1 WO 2014196928 A1 WO2014196928 A1 WO 2014196928A1 SG 2014000254 W SG2014000254 W SG 2014000254W WO 2014196928 A1 WO2014196928 A1 WO 2014196928A1
Authority
WO
WIPO (PCT)
Prior art keywords
fluid
gripper
arm
chamber
fluid channel
Prior art date
Application number
PCT/SG2014/000254
Other languages
English (en)
Inventor
Chen Hua YEOW
Jin Huat LOW
Original Assignee
National University Of Singapore
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National University Of Singapore filed Critical National University Of Singapore
Publication of WO2014196928A1 publication Critical patent/WO2014196928A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members

Definitions

  • the present invention relates to a gripping device, and related methods of operating and manufacturing the said gripping device.
  • Soft robotics is an emerging field that seeks to replace traditional hard rigid robots in applications where complex and expensive hard robots are unsuitable [1 , 2, 3]. Compared to hard robots that require a complex multicomponent mechanical structure, soft robots involve very simple design and control to generate actuation. Soft robots are usually fabricated using soft lithography techniques. Briefly, a mould with special pneumatic networks are designed using Computer-Aided Drawing (CAD) and thereafter 3D-printed. Subsequently, elastomeric mixtures (e.g.
  • CAD Computer-Aided Drawing
  • Ecoflex silicone rubber are poured into the mould and cured to create a negative replica of the mould, which is then further sealed using another layer of elastomeric material (to form a final soft actuator) that may be the same or a different material from the one in the mixture used to create the mould.
  • the potential for soft robot miniaturization using the above discussed fabrication method is undesirably limited by print resolutions of existing 3D printers. While a high-end 3D printer (in terms of the print resolution) is able to print millimetre-sized pneumatic networks, costs of purchasing such equipment may not however be viable. Besides, millimetre-sized pneumatic networks do not normally work well during the sealing step as mentioned above because the elastomeric material will tend to occlude channels of a soft actuator formed, which subsequently then affects performance of the soft actuator.
  • One object of the present invention is therefore to address at least one of the problems of the prior art and/or to provide a choice that is useful in the art.
  • a gripping device comprising a chamber arranged to hold a fluid; and at least one arm having at least one fluid channel in fluid communication with the chamber, the chamber being arranged to be deformable to enable exchange of the fluid between the chamber and the at least one fluid channel to actuate the at least one arm.
  • the proposed gripping device is advantageous in that a grip force exerted by the actuated arm of the gripping device is controllable by applying an appropriate level of pressure to deform the chamber to inflate the fluid channel of the arm. This enables compliant gripping without introducing excessive stress to an object being gripped by the gripping device.
  • the gripping device may be fabricated at a smaller size scale, since the arm may be made thinner to reduce an overall size thereof (and thus lowers manufacturing costs too).
  • the chamber and the at least one arm may include being formed from an elastomeric material.
  • the elastomeric material may include Ecoflex silicone rubber.
  • the at least one fluid channel may have a diameter of 1.5 mm, and a length of 9.0 mm.
  • the at least one arm may include a pair of arms, and each arm is arranged with a respective fluid channel in fluid communication with the chamber.
  • the at least one arm may include a pair of arms, and one of the arms is arranged to be non-actuatable.
  • the at least one arm may be arranged with at least one tooth.
  • the chamber may include being arranged to receive the fluid from a fluid storage device.
  • the at least one arm may include a sensor to provide feedback upon gripping an object, wherein the sensor may be configured to be temperature-sensitive, pH-sensitive, force-sensitive and/or electrically conductive.
  • the at least one arm may be configured to be actuated upon introduction of the fluid into the at least one fluid channel.
  • the at least one arm may also be configured to be actuated upon withdrawal of the fluid from the at least one fluid channel.
  • the chamber is arranged to be deformable may include being arranged to be compressible or expandable.
  • a surgical forceps comprising the gripping device according to the said 1 st aspect of the invention.
  • a laparoscope comprising the gripping device according to the said 1 st aspect of the invention.
  • a method of operating a gripping device having a chamber arranged to hold a fluid, and at least one arm having at least one fluid channel in fluid communication with the chamber, the method comprises deforming the chamber to cause exchange of the fluid between the chamber and the at least one fluid channel to actuate the at least one arm; and gripping an object using the actuated at least one arm.
  • a method of manufacturing a gripping device comprising providing a mould having first and second portions respectively corresponding to a chamber and at least one arm of the gripping device to be formed; providing at least one longitudinal insert within the first and second portions; introducing an elastomeric material into the mould to form the gripping device; and upon curing of the elastomeric material, removing the at least one longitudinal insert to provide at least one fluid channel in the at least one arm, the at least one fluid channel being arranged to be in fluid communication with the chamber.
  • FIG. 1 includes FIGS. 1 a to 1 c, which show different views of a gripping device, according to a first embodiment
  • FIG. 2 includes FIGs. 2a to 2d, which show related schematics views of the gripping device of FIG. 1 ;
  • FIG. 3 is a flow diagram of a method of manufacturing the gripping device of FIG. 1 ;
  • FIG. 4 shows a CAD model of a mould used in the said method of FIG. 3;
  • FIGs. 5 and 6 show a method of operating the gripping device of FIG. 1 ;
  • FIG. 7 includes FIGs. 7a to 7c, which show example applications for the gripping device of FIG. 1 ;
  • FIG. 8 includes FIGs. 8a and 8 ⁇ which show alternative embodiments, relating to the chamber of the gripping device of FIG. 1 ;
  • FIG. 9 includes FIGs. 9a to 9f, which show further alternative embodiments, relating to the arms of the gripping device of FIG. 1 ;
  • FIG. 10 includes FIGs. 10a and 10b, which depict operation of the alternative embodiment shown in FIG 9e;
  • FIG. 11 includes FIGs. 11a and 1 1 b, which show fluid extraction from fluid channels of the gripper arms to cause actuation thereof;
  • FIGs. 12a to 12f depict different types of moulds that are usable in the said method of FIG. 3 to manufacture different variations of the gripping device
  • FIGs. 12g to 12k depict a gripper manufactured using the mould shown in FIG. 12e;
  • FIG. 13 includes FIGs. 13a to 13c, which show a further embodiment of the gripping device which uses a soft-hard hybrid design
  • FIG. 14 includes FIGs. 14a to 14d, which show different views of a first soft pneumatic endoscopic actuator, according to another embodiment
  • FIG. 15 includes FIGs. 15a and 15b, , which show photos of the first soft pneumatic endoscopic actuator in an actuated state;
  • FIG. 16 includes FIGs. 16a to 16d, which show different views of a second soft pneumatic endoscopic actuator, according to a further embodiment
  • FIG. 17 includes FIGs. 17a to 17d, which show different views of a third soft pneumatic endoscopic actuator, according to an alternative embodiment
  • FIG. 18 includes FIGs. 18a to 18d, which show different views of the third soft pneumatic endoscopic actuator configured with a sheath;
  • FIG. 19 includes FIGs. 19 to 19d, show the third soft pneumatic endoscopic actuator being appropriately oriented to control a bending direction thereof;
  • FIG. 20 includes FIGs. 20a to 20c, which depict respective handling tools being used in conjunction with the gripping device of FIG. 1 ;
  • FIG. 21 includes FIGs. 21 a to 21 f, which show photos of the respective handling tools of FIG. 20 gripping a wire;
  • FIG. 22 includes FIGs. 22a and 22b, which show photos of the gripping device of FIG. 1 gripping an LED component;
  • FIG. 23 shows use of the gripping device with a movable piston
  • FIG. 24 includes FIGs. 24a and 24b, which show use of a clamping device to 5 detachably couple two units of the handling tool of FIG. 20c;
  • FIG. 25 includes FIGs. 25a to 25c, which show different possible implementations of the clamping device of FIG. 24;
  • FIG. 26 includes FIGs. 26a and 26b showing a soft manipulator device in opened form
  • FIG. 27 includes FIGs. 27a and 27b showing the soft manipulator device of FIG.
  • FIG. 28 includes FIGs. 28a to 28d showing the gripping device of FIG. 1 incorporated with different types of sensors;
  • FIG. 29 includes FIGs. 29a and 29b showing two different variants of the first 15 soft pneumatic endoscopic actuator of FIG. 14.
  • a gripping device 100 (hereinafter gripper for brevity) is disclosed, according to a first embodiment shown in FIGs. 1a to 1 c, in which the gripper 100 is
  • FIG. 2 shows related schematics views of the gripper 100, relating to gripper arms 102a, 102b thereof, in which FIGs 2a to 2d are respectively a top view, an isometric view, a back elevation view and a side elevation view of the gripper arms 102a, 102b.
  • FIGs 2a to 2d are respectively a top view, an isometric view, a back elevation view and a side elevation view of the gripper arms 102a, 102b.
  • the gripper 100 is arranged to grasp and manipulate milliscale objects.
  • the gripper 100 is arranged to include a pair of the (left and right) gripper arms 102a, 102b, which are configured with respective fluid channels 104a, 104b.
  • the gripper arms 102a, 102b are coupled to each other at a lower portion thereof, which in turn allows collectively attachment to a
  • the said body 106 comprises an internal chamber 108 arranged to hold a fluid (e.g. liquid or air).
  • a fluid e.g. liquid or air
  • the gripper 100 is said to be pneumatically operated.
  • the gripper 100 is said to be hydraulically operated.
  • the body 106 is arranged in the form of ⁇ ' ⁇ a rectangular cuboid, and thus the gripper arms 102a, 102b are attached to a face of this said rectangular cuboid.
  • the fluid channels 104a, 104b are arranged to be in fluid communication with the chamber 108, which is also configured as a rectangular cuboid.
  • the gripper arms 102a, 102b are spaced apart from each other by a grip width of 2 mm, and thus the gripper 100 can be used to grip and pick up millimetre-sized objects of cross-sectional dimensions ranging up to 2 mm. Specifically, when the gripper arms 102a, 102b are actuated, the inner walls 1 10a, 1 10b of the gripper arms 102a, 102b cooperate to pick up a desired object. It is to be appreciated that the distance measured between the inner walls 1 10a, 1 10b of the gripper arms 102a, 102b defines the grip width.
  • the gripper arms 102a, 102b Arranged side-by-side, the gripper arms 102a, 102b have a combined width of about 12 mm, and each gripper arm 102a, 102b has a length of about 12.50 mm, and a height thickness of about 5.0 mm. It will of course be appreciated that the above discussed relevant dimensions of the gripper 100 are merely provided as an example illustration, and not to be construed as limiting; other suitable dimensions are possible depending on applications.
  • Each fluid channel 104a, 104b has a length of about 9 mm, and a diameter of about 1.5 mm. Further each fluid channel 104a, 104b is located sufficiently adjacent to the outer walls 112a, 1 12b of the associated gripper arm 102a, 102b. It is to be appreciated that the fluid channels 104a, 104b are located sufficiently adjacent to the outer walls in order to allow preferential inflation on the associated outer walls 1 12a, 1 12b so that the gripper arms 102a, 102b may consequently bend inwardly in response. For clarity, the outer walls 1 12a, 1 12b are in parallel opposing arrangement to the respective inner walls 1 10a, 1 10b of the associated gripper arms 102a, 102b.
  • the gripper arms 102a, 102b, and the body 106 (and thus the chamber 108) of the gripper 100 are structurally deformable (i.e. compressible/expandable) since the entire gripper 100 is formed from the elastomeric material.
  • compressing the chamber 108 enables exchange of the fluid between the chamber 108 and the fluid channels 104a, 104b of the associated gripper arms 102a, 102b to actuate the gripper arms 102a, 102b to grip a desired object.
  • This operation of the gripper 100 will be elaborated in a related method below. FIG.
  • FIG. 3 is a flow diagram of a related method 300 of manufacturing the said gripper 100, based on the modified soft lithography technique, whereby specifically a wire-based approach for forming the fluid channels 104a, 104b of the associated gripper arms 102a, 102b is adopted.
  • a mould 400 (as shown in FIG. 4) is provided, and the mould 400 includes first and second portions 402, 404 respectively corresponding to the chamber 108 and gripper arms 102a, 102b of the gripper 100 to be formed.
  • the mould 400 is featureless and is printed using known 3D-printing techniques.
  • a pair of wire inlets 406a, 406b is provided in the first portion 402 of the mould 400, extending the entire length of the first portion 402.
  • a pair of securing holes 408a, 408b is provided at the base 408 of the mould 400, in which positions of the securing holes 408a, 408b correspond respectively to the wire inlets 406a, 406b.
  • the wire inlets 406a, 406b are spaced apart and run parallel to each other, and also each inlet 406a, 406b is located sufficiently adjacent to the respective outer walls of the first portion 402.
  • first portion 402 is intermediate the second portion 404 and the base 408 of the mould 400. Further, the first portion 402 is spaced from the base 408 of the mould 400 by a gap.
  • the wire inlets 406a, 406b are arranged to receive respective wires (not shown) before the elastomeric material is introduced into the mould 400. It is to be appreciated that the received wires are stopped and secured by the securing holes 408a, 408b located at the base of the mould 400.
  • the wire inlets 406a, 406b have diameters of 1.5 mm so that wires of a similar diameter can be received thereby to form the fluid channels 104a, 104b (in the gripper arms 102a, 102b) having diameters also of 1.5 mm. It is to be appreciated that any other types of suitable longitudinal inserts that are inert to the elastomeric material may also be used in place of the wires (which are merely discussed in this case as an example).
  • the wires are provided and inserted into the corresponding wire inlets 406a, 406b.
  • a portion of the respective wires inserted into the wire inlets 406a, 406b extend (from the first portion 402) into the second portion 404 of the mould 400.
  • the portion of the wires extending into the second portion 404 is about 9 mm long (as already afore discussed above) so that the fluid channels 104a, 104b of a similar said length can be formed.
  • the elastomeric material is introduced to completely fill the mould 400.
  • the gripper 100 is then formed.
  • the wires are then removed from the wire inlets 406a, 406b to reveal resulting hollow spaces (of diameters 1.5 mm) in the gripper arms 102a, 102b, which correspond to the associated fluid channels 104a, 104b thereof.
  • use of the , wires substantially eliminates occlusion of the fluid channels 104a, 104b during the sealing process, since the corresponding hollow spaces are still being occupied by the inserted wires at that stage (i.e. step 306).
  • the fluid channels 104a, 104b of the associated gripper arms 102a, 102b are arranged to be in fluid communication with the chamber 108.
  • the cured elastomeric material is removed from the mould 400 to obtain the gripper 100 as formed.
  • FIGs. 5 and 6 together illustrate a method 600 of operating the gripper 100 of FIG. 1.
  • the body 106 is compressed (manually or through a machine), which consequently compresses the chamber 108 (at step 602) to cause exchange of the fluid between the chamber 108 and the fluid channels 104a, 104b.
  • "exchange of the fluid” means that the fluid is introduced from the chamber 108 into the fluid channels 104a, 104b, which consequently causes the fluid channels 104a, 104b to be inflated towards the outer walls 1 12a, 1 12b of the associated gripper arms 102a, 102b.
  • the fluid channels 104a, 104b are inflated because of being filled with the introduced fluid.
  • This inflation bends both the gripper arms 102a, 102b such that the inner walls 1 10a, 1 10b of the gripper arms 102a, 102b approach each other to result in a closed gripping posture (see photo 500 in FIG. 5a). That is the gripper arms 102a, 102b are being actuated, and can thus be used to grip and pick up a desired object (at step 604).
  • FIG. 5b shows a photo 502 of the gripper 100 gripping a 1 mm tube. It is to be appreciated that in this situation, the grip width of the gripper 100 progressively narrows, depending on an intensity of pressure applied to compress the chamber 108.
  • the fluid in the fluid channels 104a, 104b flow back into the chamber 108, which causes the gripper arms 102a, 102b to open to release the object held onto by the gripper arms 102a, 102b.
  • FIG. 7 includes FIGs. 7a to 7c, which show some example applications of the gripper 100.
  • various possible handle designs may be adopted to house the gripper 100 for different specific applications.
  • the handle design may involve a pistoning mechanism to enable the chamber 108 of the gripper 100 to be compressed in order to actuate the gripper arms 102a, 102b.
  • the handle designs include, but not limited to: (i) a surgical forceps design 700 (as shown in FIG. 7a), (ii) a laparoscopic design 702 (as shown in FIG. 7b), or (iii) a surgical robot design 704 (as shown in FIG. 7c).
  • the gripper 100 is attached to a surgical robot arm, and a pistoning mechanism is arranged within the said robot arm to compress the chamber 108 of the gripper 100.
  • the surgical robot may be tele-operated, which enables the gripper 100 to be remotely actuated.
  • the example applications include (i) manipulation of delicate soft tissues (e.g. nerves and blood vessels) during surgery, (ii) assembly and handling of delicate electronic components (e.g. glass diodes or light-emitting devices) by robots, or the like.
  • the gripper 100 may also be coupled to a soft pneumatic endoscopic actuator for medical applications, including diagnosis and therapy where navigable gripping may be necessary, or a clamping device for anastomosis.
  • the gripper 100 may also be embedded with sensors, so that information such as, but not limited to, grip force, temperature, blood flow or electric current, are obtainable from an object under grip.
  • the gripper 100 may also be operated manually by hand or robotically through a linear/rotary actuator coupled to a robotic arm. Further embodiments of the invention will be described hereinafter. For the sake of brevity, description of like elements, functionalities and operations that are common between the embodiments are not repeated; reference will instead be made to similar parts of the relevant embodiment(s).
  • first variant gripper 800 there is proposed a variant of the gripper 100, as shown in FIG. 8a (and termed first variant gripper 800).
  • first variant gripper 800 is largely similar to the gripper 100 of the first embodiment in all aspects except that the body 106 is now arranged to have an accordion-like structure. Accordingly, the shape of the chamber 108 is also configured to conform to the accordion-like structure of the body 106.
  • the second variant gripper 802 is largely similar to the first variant gripper 800 of the second embodiment in all aspects except that the chamber 108 follows the arrangement discussed in the first embodiment. That is, for the third embodiment, the body 106 is arranged with an accordion-like structure, while the chamber 108 is a rectangular cuboid.
  • the chamber 108 may be integrated into the body 106 of the gripper 10 as a self-contained chamber, and arranged in different forms to suit different fluid delivery mechanisms, for example as a rectangular cuboid that can be laterally compressed (as per FIG. 1 b), or (as per FIG. 8a) as an accordion-like arrangement that can be axially compressed through a handle fixture (i.e. similar to the handles of a conventional laparoscopic tool).
  • FIGs. 9b to 9f show further respective alternative embodiments, specifically relating to possible variations in the gripper arms 102a, 102b of the gripper 100.
  • FIG 9a shows the gripper arms 102a, 102b described in the first embodiment, in which the fluid is introduced into the fluid channels 104a, 104b to actuate the gripper arms 102a, 102b.
  • FIG 9b shows that the right gripper arm 102bs replaced by a teethed arm 900 having a plurality of teeth for providing improved grip when gripping onto an object.
  • the plurality of teeth faces the inner wall 1 10a of the left gripper arm 102a, and can be arranged in any form of suitable configuration.
  • the teethed arm 900 is also not configured with any fluid channels, and hence the teethed arm 900 is not configured to be actuatable.
  • FIG 9c shows a pair of (left and right) gripper arms 902a, 902b, in which the associated fluid channels 104a, 104b are now positioned sufficiently adjacent to the inner walls 110a, 110b of the said gripper arms 902a, 902b.
  • the gripper arms 902a, 902b are instead configured to be actuated upon extraction of fluid from the fluid channels 104a, 104b to induce inward actuation of the gripper arms 902a, 902b.
  • the fluid is extracted from the fluid channels 104a, 104b by causing expansion of the chamber 108 which in turn results in expansion of the volume of the chamber 108, as will be appreciated.
  • the fluid pre-filled in the fluid channels 104a, 04b is then automatically drawn into the expanded chamber 108.
  • the definition of exchange of the fluid between the chamber 108 and the fluid channels 104a, 104b for this current embodiment means that the fluid is withdrawn from the fluid channels 104a, 104b into the chamber 108.
  • both the chamber 108 and the fluid channels 104a, 104b are pre-filled with the required fluid, prior to operating the said gripper arms 902a, 902b.
  • FIG 9d shows that the right gripper arm 902b is replaced by a teethed arm 904 having a plurality of teeth for providing improved grip when gripping onto an object.
  • the teethed arm 904 is similar to the teethed arm 900 described in the fourth embodiment.
  • the teethed arm 904 of the present embodiment is not configured with any fluid channels, and hence the teethed arm 904 is not arranged to be actuatable.
  • FIG 9e shows a single gripper arm 906 that essentially is the left gripper arm 102a of the first embodiment, which is actuated via fluid introduction into the associated fluid channel 104a of the said gripper arm 102a. Upon actuation, the single gripper arm 906 curls which can then be used to grip a desired object. This actuation of the single gripper arm 906 is depicted in the two sequence photos 1000, 1002 shown in FIG. 10.
  • FIG 9f shows another single gripper arm 908 which is largely similar to the single gripper arm 906 of the seventh embodiment, except that the single gripper arm 908 of this embodiment is arranged as an L-shaped, in which a transverse arm 908a is contiguously attached to a vertical arm 908b. So, with the transverse arm 908a, the single gripper arm 908 of the eighth embodiment provides improved grip, as compared to the seventh embodiment.
  • one, or two (or even more as desired) gripper arms may be included to suit different gripping requirements.
  • the inner walls of (either one of both) the gripper arms 102a, 102b may include features, e.g. a tooth or a plurality of teeth, to improve grip performance.
  • at least one of the gripper arms needs to contain a fluid channel therein to provide actuation of the gripper arm, whereas the remaining gripper arms may be configured to be non-actuatable.
  • FIGs. 12a to 12f illustrate different types of moulds that are usable in the said method 300 of FIG. 3 to manufacture different variations of the gripper 100.
  • FIG. 12a shows a first mould 1200 arranged to enable manufacture of a gripper that has one actuatable arm and one non-actuatable arm.
  • FIG. 12b shows the mould 400 as per FIG. 4, and hence will not be elaborated.
  • FIG. 12c shows a second mould 1202 arranged to enable manufacture of a gripper that has only one actuatable arm, as per the configuration shown in FIG. 9e.
  • FIG. 12d shows a third mould 1204 arranged to enable manufacture of a gripper that has two actuatable arms, but respective outer portions of the arms are tapered in order to accommodate different gripping requirements.
  • FIG. 12a shows a first mould 1200 arranged to enable manufacture of a gripper that has one actuatable arm and one non-actuatable arm.
  • FIG. 12b shows the mould 400 as per FIG. 4, and hence will not
  • FIG. 12e shows a fourth mould 1206 arranged to enable manufacture of a gripper 1250 (as shown in FIGs. 12g to 12i) which has a circular cross-section for a firmer grip, and includes (at least) four fluid channels 1252.
  • the gripper 1250 (as formed) using the fourth mould 1206 has a hollow cylindrical centre 1254 arranged to be surrounded by a contiguous cylindrical portion 1256 (as shown in FIG. 12g) which functions as gripper arm of the said gripper 1250 (in a manner elaborated below).
  • the four fluid channels 1252 are configured to be evenly arranged within the cylindrical portion 1256 in order to collectively enable actuation thereof for being operated as the gripper arm.
  • walls of the cylindrical portion 1256 facing the hollow cylindrical centre 1254 are defined as the inner walls and walls of the cylindrical portion in opposing arrangement to the inner walls are then defined as the outer walls.
  • the chamber 108 of the gripper 1250 as manufactured based on the fourth mould 1206 also has a circular cross-section.
  • the fluid channels 1252 of the gripper 1250 are positioned sufficiently proximal to the inner walls and inflate inwardly upon compression of the associated chamber 108 to hold an object. More specifically, in use, an object 1258 to be gripped is first loosely fitted within the hollow cylindrical centre 1254 of the gripper 1250, and fluid (e.g.
  • FIG. 12j and 12k show the said gripper 1250 being used to grip a green LED on a circuit board for repositioning onto another location on the circuit board.
  • FIG. 12f shows a fifth mould 1208 arranged to enable manufacture of a gripper 1300 (shown in FIG.
  • FIG. 13 which is of a soft-hard hybrid design comprising a soft gripper (not shown) with a single actuatable arm arranged to be inflated at the tip thereof and a hard rigid casing 1302.
  • the hard rigid casing 1302 houses the soft gripper to constrain any lateral inflation of the single actuatable arm.
  • FIGs. 13a and 13b respectively show the gripper 1300 before and subsequent to inflation of the actuatable arm.
  • the gripper 1300 upon actuating the single actuatable arm (via tip inflation), the gripper 1300 is able to grip an object with the tip inflation (as shown in FIG. 13c).
  • FIGs. 14a to 4d show different views of a first soft pneumatic endoscopic actuator 1400 (hereinafter first endoscopic actuator).
  • first endoscopic actuator a first soft pneumatic endoscopic actuator 1400
  • the afore proposed concept of manufacturing and operating the gripper 100 (of the first embodiment) may also be applicable to a soft pneumatic endoscopic actuator to provide controllable directed motion based on actuation of fluid channels arranged therewithin.
  • a multi-fluid-channel approach is adopted.
  • steps for manufacturing the first endoscopic actuator 1400 is largely similar to the method 300 of FIG. 3 for fabricating the gripper 100 of FIG. 1 .
  • a number of required thin wires e.g.
  • the first endoscopic actuator 1400 consists of multiple fluid channels 1402 (e.g. four in this case) that are positioned proximal to the walls of the first endoscopic actuator 1400.
  • the first endoscopic actuator 1400 has a length of about 52 mm, with a diameter of 6.0 mm, while each of the fluid channels 1402 has a length of 46 mm, with a diameter of 1.0 mm.
  • fluid e.g. injection of air
  • FIGs. 15a and 15b show photos of (side and bottom views respectively of) the first endoscopic actuator 1400 being actuated.
  • FIGs. 16a to 16d show different views of a second soft pneumatic endoscopic actuator 1600 (hereinafter second endoscopic actuator), which is largely similar to the first endoscopic actuator 1400 of the ninth embodiment, except that at least one additional non-fluid channel 1602 is centrally arranged within the second endoscopic actuator 1600. More specifically, the non-fluid channel 1602 lies along the longitudinal axis of the second endoscopic actuator 1600, and is surrounded by a plurality of fluid channels 1604 (e.g. four in this case). Particularly, the non-fluid channel 1602 accommodates necessary sensors and surgical instruments (by insertion therethrough) to collect information (e.g. visual) and/or perform certain tasks such as laparoscopy.
  • information e.g. visual
  • the non-fluid channel 1602 is however not configured to actuate the second endoscopic actuator 1600, but rather may be used as a pathway for introducing/removing materials, such as introducing drugs to a body region of interest (e.g. lungs). It is to be appreciated that the second endoscopic actuator 1600 is manufactured and operated largely similar to the first endoscopic actuator 1400 of the ninth embodiment. The only exception in a step of manufacturing the second endoscopic actuator 1600 is that an additional wire needs to be provided (centrally within the mould) to create another longitudinal hollow space corresponding to the non-fluid channel 1602.
  • the second endoscopic actuator 1600 has a length of 52 mm, with a diameter of 12.50 mm whereas each of the fluid channels 1604 has a length of 46 mm, with a diameter of 1 .60 mm.
  • the non-fluid channel 1602 has a length of 39 mm and a diameter of 3.0 mm,
  • FIGs. 17a to 17d show different views of a third soft pneumatic endoscopic actuator 1700 (hereinafter third endoscopic actuator), which involves using a shaft-sheath design.
  • the third endoscopic actuator 1700 is formed from a semi-open hollow shaft made of a rubber material, and thereafter an elastomeric material is poured into the shaft surface opening, where prior to that, a wire is internally placed along the length of the hollow shaft and positioned closer to the surface opening.
  • the hollow shaft becomes to form an outer rubber layer, while the third endoscopic actuator 1700 (having a single wire-sized fluid channel 1702) forms internally of the hollow shaft.
  • the said fluid channel 702 has a diameter of 1.0 mm in this case.
  • a sheath 1802 to be used (as shown in FIGs. 18a and 18b) may be fabricated from elastomeric material and is essentially a static covering for the hollow shaft to enable rotation in relation to.
  • the third endoscopic actuator 1700 has diameters of about 4.60 mm and 5.60 mm respectively, without and with the sheath 1802.
  • a length of the sheath 1802 required to cover the hollow shaft is about 52 mm in this case.
  • a key rod 1804 (as shown in FIG.
  • FIGs. 19a to 19d are respective cross-sectional diagrams showing how the fluid channel 1702 of the third endoscopic actuator 1700 may appropriately be oriented (as desired) to control a bending direction thereof.
  • rotating the third endoscopic actuator 1700 on its longitudinal axis orients the third endoscopic actuator 1700 to a required bending direction.
  • FIGs. 20a to 20c show the gripper 100 (of the first embodiment) being used together with respective handling tools.
  • FIG. 20a depicts a side view of a handling tool 2000 which incorporates the gripper 100, and the handling tool 2000 is also configured with a movable handle 2002 to cause deformation of the chamber 108 of the gripper 100 to actuate the gripper arms 102a, 102b.
  • the movable handle 2002 is reciprocatingly received in the handling tool 2000, and may be slidably moved as desired.
  • one end of the movable handle 2002 is in contact with the gripper 100, and by moving the movable handle 2002 towards/away (as indicated by an arrow labelled with reference numeral 2004) from the gripper 100, the said chamber 108 can be deformed (i.e. compressed or released).
  • FIG. 20b depicts the gripper 100 of the first embodiment, as will be appreciated by now.
  • FIG. 20c depicts a side view of another handling tool 2020 which incorporates (in a housing) the gripper 100 and a linear actuator 2022.
  • one end of the linear actuator 2022 is arranged to be in contact with the gripper 100, and hence by moving the linear actuator 2022 towards/away from the gripper 100, the chamber 108 of the gripper 100 may be deformed to actuate the gripper arms 102a, 102b.
  • the handling tool 2020 of FIG. 20c can also be coupled to a micro multifunction endoscope for medical applications, including diagnosis and therapy, or a clamping device for anastomosis.
  • FIG. 21 includes FIGs. 21 a to 21 f, which show photos of (different variations of) the gripper 100 gripping a wire (having a diameter of about 1.0 mm).
  • FIGs. 21 a and 21 b show the handling tool 2020 of FIG. 20c, now configured with a single actuatable arm (based on FIG 9b or FIG 9d) for the gripper 100, being used to grip the wire.
  • FIGs. 21 c and 21 d show the handling tool 2020 of FIG. 20c, now configured with a double actuatable arm (based on FIG 9a or FIG 9c) for the gripper 100, being used to grip the wire.
  • FIGs. 21 e and 21 f show the handling tool 2020 of FIG.
  • FIGs. 22a and 22b show respective photos of the gripper 100 (of the first embodiment) being used to grip an LED component off a circuit board.
  • a handling tool 2300 with a locking mechanism is provided in which a movable piston 2301 arranged in the handle 2302 can be locked at different positions to control the grip posture of the gripping device 100.
  • the said locking mechanism can be achieved through a slide-and-lock concept, for instance, but not limited to, having a push button 2304 on a slider 2306 for moving and locking the movable piston 2301 to different holes 2308 positionally provided along on the handle 2302.
  • FIGs. 24a and 24b can be configured with an adjustable connector on the external surface, in order that two of those handling tools 2020 can be detachably attached to each other as shown in FIGs. 24a and 24b. That is, the connectors of the respective two handling tools 2020 to be attached together are in a reciprocating arrangement (e.g. male and female device configuration), acting as a clamping device 2400.
  • this proposed arrangement allows two or more connected devices to pull gripped objects to within a desired inter-gripper distance, and the distance can then be clamped to facilitate performance of surgical procedures such as anastomosis.
  • FIGs. 25a to 25c show some different possible configurations of the clamping device 2400 that can be adopted. More specifically, the clamping device 2400 includes for example, but not limited to: a wing bolt lock 2500 (in FIG. 25a), a lever lock 2502 (in FIG. 25b), and a twist lock 2504 (in FIG. 25c).
  • clamping is achieved by spinning two threaded wing bolts 2500a, 2500b into corresponding threaded holes provided in the casing (of the lock 2500) to tighten and secure an inner rod 2500c received in said casing.
  • clamping is effected by adjusting an inner rod 2502a (received in the casing of the lock 2502) to a desired position and thereafter pushing a lever 2502b located external of said casing to secure the inner rod 2502a.
  • twist lock 2504 clamping is secured by adjusting an inner rod 2504a (received in the casing of the lock 2504) to a desired length and then twisting to tighten a securing ring 2504b provided on the casing (of the lock 2504) to hold the inner rod 2504a.
  • the clamping device 2400 is realised as the wing bolt lock 2500 simply as an example.
  • FIGs. 26a and 26b show (front and side elevation views of) a soft manipulator device 2600 (in opened form) arranged with (at least) two soft pneumatic actuators arms 2602a, 2602b, which at associated ends are configured with respective soft gripper end effectors 2604.
  • the soft pneumatic actuators arms 2602a, 2602b and soft gripper end effectors 2604 are each arranged with associated (at least one) fluid channels 2605 to enable actuation thereof.
  • the fluid channels 2605 are in turned terminated at the open ends with respective adaptors 2610 to be operatively connected to a (e.g.) pneumatic pump.
  • the pneumatic pump provides air to inflate the fluid channels 2605 to actuate the soft pneumatic actuators arms 2602a, 2602b and soft gripper end effectors 2604.
  • the soft pneumatic actuators arms 2602a, 2602b are formed on a body 2606 of the soft manipulator device 2600, and a movable casing 2608 is slidably arranged along the length of the body 2606 for retracting the soft pneumatic actuators arms 2602a, 2602b into a closed form for subsequent deployment, as shown in FIGs. 27a and 27b.
  • the soft manipulator device 2600 is pneumatically operated to control the actuators arms 2602a, 2602b to perform coordinated tasks, for instance, but not limited to, using one actuator arm 2602a, 2602b to grip a tissue and another actuated arm 2602a, 2602b to grip a blade to cut the tissue, or suturing for wound closure.
  • the proposed elastomeric endoscopic actuators are flexible and can deform passively during contact interactions with soft tissue and hence provide a safe approach for manoeuvring in hard-to-access areas during surgery.
  • the soft manipulator device 2600 may be hydraulically operable, instead of pneumatically operated.
  • FIGs. 28a to 28d show the gripper 100 (of the first embodiment) incorporated with different types of sensors.
  • the gripper arms 102a, 102b of the gripper 100 may be sensorized by further integration with materials such as, but not limited to, temperature-sensitive, pH-sensitive, force-sensitive and/or electrically conductive materials (as respectively depicted in FIGs. 28a to 28d).
  • the sensors are integrated with the inner walls 110a, 1 10b of the gripper arms 102a, 102b. So, the gripper 100, modified by being suitably sensorized as required, enables a user of the gripper 100 to obtain key information through the gripping of delicate objects, which is not possible via conventional hard grippers.
  • the proposed gripper 100, 800, 802 is advantageous in the following ways. Firstly, the gripper 100, 800, 802 can be fabricated at a smaller size scale using the wire-based approach (compared to conventional methods), within several hours at a low cost and is highly scalable for mass production. In particular, the gripper arms 102a, 102b may be made thinner and thus : 3 ⁇ 4reduces an overall size thereof. Secondly, the gripper 100, 800, 802 is configured to enable compliant gripping without introducing excessive stress to an object being gripped. Thirdly, a grip force exerted by the gripper arms 102a, 102b of the gripper 100, 800, 802 is controllable by applying an appropriate level of pressure to deform (i.e.
  • a design of the gripper 100, 800, 802 may easily be modified as desired, by using existing Computer-Aided Drawing (CAD) and 3D-printing techniques, to suit different gripping requirements envisaged for intended applications. Of course, this also aid in lowering costs of manufacturing the proposed gripper 100, 800, 802, as will be appreciated.
  • CAD Computer-Aided Drawing
  • advantages of the proposed gripper 100, 800, 802 also include: (1 ) enabling controllable grip posture via using a locking mechanism with the gripper 100, 800, 802 to establish a firm grip on delicate objects such as nerves, cornea or the like, (2) enabling controllable inter-gripper distance using the clamping device 2400 between multiple handling tools 2020 (which incorporate the gripper 100) for surgical anastomosis, (3) enabling navigable motion by incorporating the gripper 100, 800, 802 in a soft endoscope device for gripping in difficult orientations, (4) enabling coordinated motion by integrating multiple gripper-endoscopic arms for wound closure suturing, and (5) obtaining important information from gripping of delicate objects using sensors incorporated into the grippers 100, 800, 802 (i.e. sensorized grippers), especially for operations relating to nerves handling where it may be used for detecting electrical activity in the nerves.
  • sensors incorporated into the grippers 100, 800, 802 i.e. sensorized grippers
  • force feedback may be integrated into the proposed gripper 100, by embedding force sensors, such as (but not limited to) using pressure films, liquid metal (e.g. EGaln) or strain-sensitive fibers/sheets, into the inner walls 1 10a, 1 10b of the gripper arms 102a, 02b so as to detect a level of pressure that is being applied to the object being gripped.
  • the chamber 108 may also be additionally arranged to receive fluid from an external fluid storage device (not shown), as opposed to the fluid being locally stored in the chamber 108 according to the fore going described embodiments.
  • the chamber 108 may also be an external syringe-like device or a pressurized fluid storage device that is configured to be in fluid communication with the gripper 100 via tubings, in order that fluid may be introduced (for increasing positive pressure) to, or extracted (for reducing positive pressure) from the fluid channels 104a, 104b to induce actuation of the gripper arms 102a, 102b.
  • the proposed gripper 100 may be scaled up accordingly (to structurally be of a desired large size-scale) in order to be used (e.g.) for gripping and rescuing animals/humans for safe transportation away from disaster zones.
  • each gripper arm 102a, 102b may be configured with more than one fluid channel to enable better precision control of the actuation movement being effected. That is, each gripper arm 102a, 102b is arranged with at least one fluid channel.
  • the associated fluid channels 1402 may alternatively be (detachably) coupled to respective dedicated chambers 2900 (but without the fluid channels 1402 being sealed), such that compressing the associated chambers 2900 inflate the respective fluid channels 1402.
  • the variant first endoscopic actuator 1400' of FIG. 29a may also be integrated (at an end opposite to where the chambers 2900 are positioned) with (just) the gripper arms 102a, 102b of the gripper 100 of the first embodiment (but excluding the body 106), whereby the integrated gripper arms 102a, 102b are arranged with its own dedicated fluid channel 2950 passing through the body of the variant first endoscopic actuator 1400' and in fluid communication with another separate chamber 2960.

Abstract

L'invention porte sur un dispositif de préhension (100) qui comporte une chambre (108) conçue pour contenir un fluide ; au moins un bras (102a, 102b) ayant au moins un canal de fluide (104a, 104b) en communication fluidique avec la chambre, la chambre étant conçue pour pouvoir se déformer afin de permettre l'échange du fluide entre la chambre et ledit canal de fluide de façon à actionner ledit bras. L'invention porte aussi sur des procédés associés consistant à utiliser et fabriquer le dispositif de préhension.
PCT/SG2014/000254 2013-06-04 2014-06-03 Dispositif de préhension WO2014196928A1 (fr)

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US10208925B2 (en) 2014-03-11 2019-02-19 Soft Robotics, Inc. Soft conformal laparoscopic instrument
WO2015138649A1 (fr) * 2014-03-11 2015-09-17 Soft Robotics, Inc. Instrument laparoscopique autoconformable souple
WO2016172670A1 (fr) * 2015-04-23 2016-10-27 Soft Robotics, Inc. Amélioration d'outils de préhension robotiques souples par l'intégration de structures rigides
CN108025443A (zh) * 2015-04-23 2018-05-11 软机器人公司 通过集成硬性结构对软机器人抓持器的改进
CN108025443B (zh) * 2015-04-23 2019-07-23 软机器人公司 机器人抓持器以及机器人结构
US10093023B2 (en) 2015-04-23 2018-10-09 Soft Robotics, Inc. Enhancement of soft robotic grippers through integration of stiff structures
US11752641B2 (en) 2015-07-30 2023-09-12 Soft Robotics, Inc. Self-contained robotic gripper system
EP3964335A1 (fr) * 2015-07-30 2022-03-09 Soft Robotics, Inc. Système de préhension robotique autonome
EP3367876A4 (fr) * 2015-10-31 2019-09-25 Children's National Medical Center Outils chirurgicaux souples
CN108366720B (zh) * 2015-10-31 2021-07-02 儿童国家医疗中心 软手术工具
WO2017075602A1 (fr) 2015-10-31 2017-05-04 Children's National Medical Center Outils chirurgicaux souples
CN108366720A (zh) * 2015-10-31 2018-08-03 儿童国家医疗中心 软手术工具
US11135028B2 (en) 2015-10-31 2021-10-05 Children's National Medical Center Soft surgical tools
US10569422B2 (en) 2016-01-20 2020-02-25 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10478974B2 (en) 2016-01-20 2019-11-19 Soft Robtics, Inc. End of arm tools for soft robotic systems
US10179411B2 (en) 2016-01-20 2019-01-15 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US10889004B2 (en) 2016-01-20 2021-01-12 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US11045959B2 (en) 2016-01-20 2021-06-29 Soft Robotics, Inc. End of arm tools for soft robotic systems
CN108778640B (zh) * 2016-01-20 2019-10-22 软机器人公司 用于杂乱抓持环境、高加速度移动、食品操作以及自动化仓储系统的软机器人抓持器
WO2017127643A1 (fr) * 2016-01-20 2017-07-27 Soft Robotics, Inc. Appareils de préhension robotiques souples pour environnements de préhension encombrés et systèmes de stockage et récupération automatisés, à mouvements d'accélération élevée et manipulation d'aliments
CN108778640A (zh) * 2016-01-20 2018-11-09 软机器人公司 用于杂乱抓持环境、高加速度移动、食品操作以及自动化仓储系统的软机器人抓持器
EP3670116A4 (fr) * 2017-05-04 2021-08-04 Suzhou Rorobot Technology Co., Ltd. Nouvelle tête de retenue souple, et élément de retenue souple et stylo de retenue souple associé
CN107350992A (zh) * 2017-05-04 2017-11-17 苏州柔触机器人科技有限公司 一种新型柔性夹头及其柔性夹具和柔性夹持笔
US11530621B2 (en) 2019-10-16 2022-12-20 General Electric Company Systems and method for use in servicing a machine

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