@article{piccin_design_2012,
	title = {Design, {Development} and {Preliminary} {Assessment} of {Grasping} {Devices} for {Robotized} {Medical} {Applications}},
	url = {http://dx.doi.org/10.1115/DETC2012-70634},
	doi = {10.1115/DETC2012-70634},
	abstract = {This paper presents the development of NGDs (needle grasping devices) capable of handling elongated objects such as surgical needles. After describing the main demands of medical needle-based procedures, a requirement list for a typical NGD is presented. Some solution principles for a grasping device are generated, combined and then classified to obtain a set of principle variant solutions. The design study of some of these variant solutions is then developed and a discussion on two device candidates constructed using either interconnected rigid bodies or compliant parts will be presented. The mechanical behavior of the compliant mechanism acting on a needle barrel is simulated with a FEM analysis including the model of non-linearities induced by large deformations and the contact between the needle and the grasping device. Functional prototypes of both NGDs have been constructed and a first experimental assessment of their service capability is finally exposed.},
	urldate = {2016-01-05},
	author = {Piccin, Olivier and Kumar, Nitish and Meylheuc, Laurence and Barbé, Laurent and Bayle, Bernard},
	month = aug,
	year = {2012},
	pages = {65--73},
	file = {Full Text PDF:C\:\\Users\\Nitish-CRL\\Zotero\\storage\\Q7Q5VINT\\Piccin et al. - 2012 - Design, Development and Preliminary Assessment of .pdf:application/pdf}
}