Shape Deposition Manufacturing of a Soft, Atraumatic, and Deployable Surgical Grasper

Using integrated manufacturing processes with soft constituent materials, a new paradigm of soft, smart surgical devices can be realized to drastically reduce complication risks and enable safer procedures. We have designed, prototyped, and tested a ‘soft’, atraumatic, deployable surgical grasper that can be used during robolaparoscopic surgery to provide a safe, compliant intermediary between delicate organs and the sharp, rigid robotic forceps that are used to grasp and manipulate these organs on an ad-hoc basis. Multi-jointed, conformable fingers with embedded pressure sensors can conform to complicated geometry, thereby distributing forces and providing an inherently safe means of manipulating and retracting anatomy.