Robotic Grasping and Manipulation Soft Tissues in Medical Applications

Description

The main idea of the project is the development of new types of grasping systems and methods of their use for medical purposes, in order to minimize tissue damage and contact with them.

Funding

The project is in the process of seeking funds from NSF FRR.

Colaboration

• Texas Robotics, The University of Texas at Austin (USA).
• Walker Department of Mechanical Engineering, The University of Texas at Austin (USA).
• EPAM School of Digital Technologies, American University Kyiv (Powered by Arizona State University) (Ukraine).

Materials

The

Results

The first step is the development of a low-contact gripper that would be able grasping and manipulate soft objects with different surface shapes. For example, during surgical applications, manipulation of various organs with convex and concave surfaces.

Grasping Soft Balls of Various Shapes by Vortex Gripper

Grasping	Grasping

Results Presentation

• R. Mykhailyshyn " A. Majewicz Fey " Low-Contact Grasping of Soft Tissue with Complex Geometry using a Novel Vortex Gripper." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023) Workshop on Robotics for the Gut.
• R. Mykhailyshyn " A. Majewicz Fey " Low-Contact Grasping of Soft Tissue Using a Novel Vortex Gripper." IEEE 2024 International Symposium on Medical Robotics (ISMR 2024) IEEE.

Publications

The