Compliant underactuated grasper

摘要

A grasper includes a base, a finger, a tendon cable and a magnetic breakaway mechanism. The finger has a proximal end connected to the base by a proximal joint. The tendon cable is configured to move the finger relative to the base. The magnetic breakaway mechanism releasably couples the finger to the base.

主权项

1. A grasper comprising:
a base; a finger having a proximal end connected to the base by a proximal joint; a tendon cable configured to move the finger relative to the base; and a magnetic breakaway mechanism releasably coupling the finger to the base; wherein:
the tendon cable extends through the magnetic breakaway mechanism and to the finger;the magnetic breakaway mechanism includes:
a finger submount, wherein the finger is pivotably connected to the finger submount by the proximal joint; anda base submount on the base;wherein the finger submount and the base submount are magnetically attracted to one another and the finger submount is connected to the base via the base submount;the magnetic breakaway mechanism includes at least one locator feature to re-align the finger submount with the base submount when the finger submount and the base submount are separated and re-joined; andthe at least one locator feature includes an annular or semi-annular groove.