Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure
Tunable stiffness mechanisms can increase the noninvasiveness and stability of organ manipulation in laparoscopic liver resection. We have developed an organ-grasping device using beam-shaped tunable stiffness mechanism. Increasing the change ratio of stiffness will improve the performance of the de...
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| Format: | Article |
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MDPI AG
2021-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/10/4581 |
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| author | Toshihiro Kawase Takaaki Sugino Shinya Onogi Kenji Kawashima Yoshikazu Nakajima |
| author_facet | Toshihiro Kawase Takaaki Sugino Shinya Onogi Kenji Kawashima Yoshikazu Nakajima |
| author_sort | Toshihiro Kawase |
| collection | DOAJ |
| description | Tunable stiffness mechanisms can increase the noninvasiveness and stability of organ manipulation in laparoscopic liver resection. We have developed an organ-grasping device using beam-shaped tunable stiffness mechanism. Increasing the change ratio of stiffness will improve the performance of the device by offering high flexibility when adhering to the liver surface and high rigidity during the manipulation of the liver; however, optimal design of the beam has not been investigated. In this study, we investigate the wavy structure shape of the device that enhances the change in the ratio of stiffness. To increase the stiffness in a high-stiffness state, we used principal stress lines in the device to design the edge curve of the wavy shape material in the beams. We also investigated the arrangement of the wavy shape to decrease the stiffness in a low-stiffness state. Simulation using finite element method showed that the change ratio of stiffness was improved up to 13.0 by the new wavy shape arranged with the uniformly thick bottom of the waves. |
| first_indexed | 2024-03-10T11:20:06Z |
| format | Article |
| id | doaj.art-8390784e0f3c4e618517293726490a85 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T11:20:06Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-8390784e0f3c4e618517293726490a852023-11-21T20:07:32ZengMDPI AGApplied Sciences2076-34172021-05-011110458110.3390/app11104581Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam StructureToshihiro Kawase0Takaaki Sugino1Shinya Onogi2Kenji Kawashima3Yoshikazu Nakajima4Department of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 113-8510, JapanDepartment of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 113-8510, JapanDepartment of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 113-8510, JapanDepartment of Information Physics and Computing, The University of Tokyo, Tokyo 113-8656, JapanDepartment of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 113-8510, JapanTunable stiffness mechanisms can increase the noninvasiveness and stability of organ manipulation in laparoscopic liver resection. We have developed an organ-grasping device using beam-shaped tunable stiffness mechanism. Increasing the change ratio of stiffness will improve the performance of the device by offering high flexibility when adhering to the liver surface and high rigidity during the manipulation of the liver; however, optimal design of the beam has not been investigated. In this study, we investigate the wavy structure shape of the device that enhances the change in the ratio of stiffness. To increase the stiffness in a high-stiffness state, we used principal stress lines in the device to design the edge curve of the wavy shape material in the beams. We also investigated the arrangement of the wavy shape to decrease the stiffness in a low-stiffness state. Simulation using finite element method showed that the change ratio of stiffness was improved up to 13.0 by the new wavy shape arranged with the uniformly thick bottom of the waves.https://www.mdpi.com/2076-3417/11/10/4581tunable stiffness mechanismprincipal stress lineorgan-grasping device |
| spellingShingle | Toshihiro Kawase Takaaki Sugino Shinya Onogi Kenji Kawashima Yoshikazu Nakajima Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure Applied Sciences tunable stiffness mechanism principal stress line organ-grasping device |
| title | Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure |
| title_full | Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure |
| title_fullStr | Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure |
| title_full_unstemmed | Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure |
| title_short | Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure |
| title_sort | improvement of a tunable stiffness organ grasping device by design of a wavy shaped beam structure |
| topic | tunable stiffness mechanism principal stress line organ-grasping device |
| url | https://www.mdpi.com/2076-3417/11/10/4581 |
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