This invention describes a low-contact vortex gripper that uses vortex-generated pressure differences to gently grasp soft tissues. Its 3D printed design minimizes tissue damage during delicate procedures like minimally invasive surgery, offering an efficient and cost-effective solution.
The field of robotic manipulation in minimally invasive surgery has grown rapidly, driven by the need for precision handling of delicate soft tissues. As surgical techniques evolve to reduce patient recovery time and complications, there is an increasing demand for technologies that minimize direct contact and mechanical stress. The emphasis on gentle treatment is vital, as excessive force can lead to tissue trauma, inflammation, and unintended damage, all of which contribute to post-operative complications and longer healing times.
Current approaches, however, face significant challenges in achieving reliable and consistent outcomes. Many existing systems, including traditional pinch-type and vacuum-based graspers, struggle with accurately controlling contact pressure, leading to issues such as tissue slippage, vibration, and inadvertent damage. These limitations hinder the ability to securely manipulate tissues with varying geometries and compliance, sometimes resulting in imprecise handling and compromised procedural safety. As a result, there remains an unmet need for advanced solutions that address these critical concerns while ensuring careful, controlled interaction with soft tissue.
The low-contact vortex gripper employs a unique design that uses vortex technology to create a gentle yet effective grasp on soft and deformable tissues. By channeling compressed air or liquid through tangentially directed nozzles into a cylindrical cavity, the gripper generates a controlled vortex that produces negative pressure, enabling secure handling with minimal contact. Its compact size, precision-engineered friction elements, and ability to operate robustly under pressures up to 600 kPa make it suitable for applications in minimally invasive procedures, while stereolithography (SLA) 3D printing allows for a single-piece, durable construction using biocompatible materials.
What sets this technology apart is its ability to minimize tissue damage compared to traditional pinch-type or vacuum-based graspers. The design achieves stable, low-force engagement even on irregular surfaces, reducing risks of post-surgical complications like adhesions. Extensive testing on bio-inspired and ex vivo tissues has demonstrated significant improvements in lifting force and grasp reliability. Additionally, the device’s compatibility with both gaseous and liquid mediums, along with its cost-effective manufacturing, ensures its relevance and adaptability in robotic systems for soft tissue manipulation and delicate object handling across various industries.
This device utilizes vortex technology for robotic soft tissue manipulation in minimally invasive surgery. Comprising a cylindrical cavity with tangential nozzles and friction-enhancing protrusions, it produces controlled negative pressure to securely handle delicate structures. Manufactured via SLA 3D printing with biocompatible materials, it withstands pressures up to 600 kPa and demonstrates consistent performance across varied tissue geometries, reducing damage compared to conventional pinch graspers. The University of Texas at Austin is seeking a commercial partner to license this patent towards commercialization.