Creation and validation of a numerical model for the analysis of bending patterns of flexural laparoscopic grasper fingers

Abstract

A series of analytical models are created to predict the bending behavior of novel flexural laparoscopic fingers. These models predict behavior and stresses as a function of finger geometry and actuation force. A model is first created for a blade flexure concept and is used to prove the concept impractical, eliminating unnecessary fabrication and testing. Another model is created for an initially curved flexure concept and predicts the success of the model. These fingers are prototyped and tested, confirming the analytical model. The same model predicts the benefits of a modified initially curved flexure and is the basis for the decision to move forward with that concept.