2022 年 24 巻 1 号 p. 5-15
In order to solve the problems of the current minimally invasive treatment tools, we conducted research and development of a thin grasping forceps with a manually operated grasping mechanism mounted on the tip. The design specification and the basic structure of the forceps were investigated, and the grasping mechanism was made into a single metal structure, which was opened and closed by wire drive. A detailed design of the grasping mechanism was carried out using 3D CAD, and structural analysis was performed to confirm that the required specifications, strength, and deformation could be achieved. Using Ti-Ni shape memory alloy as a material, we were able to fabricate the gripping mechanism from a single part by wire EDM. We conducted driving and motion experiments of the fabricated grasping mechanism, and confirmed that the grasping function, grasping force, response, and durability were sufficient. From the verification experiments, we found the problems and discussed the solutions.
