Design of a Bi-Stable Compliant Grasper Using Bi-Stable Beams and Disc Springs

The Minimally Invasive Manipulator (MIM) copies the movements of the hands of the surgeon to the tip of the instrument inside the operating area. The movement is mechanically copied using cables and pulleys. When the surgeon grasps and holds an object, the friction inside the MIM increases and distorts the force feedback in the remaining degrees...