Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments.

@article{Swaney2017DesignFA,
  title={Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments.},
  author={Philip J. Swaney and Peter A. York and Hunter B. Gilbert and Jessica Burgner-Kahrs and Robert J. Webster},
  journal={Journal of medical devices},
  year={2017},
  volume={11 1},
  pages={0145011-145019}
}
This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first… CONTINUE READING