Generating Secure and Gentle Grip on Soft Substrates

Generation of grip on soft tissue in the surgical field is most commonly done with forceps that generate friction grip, that is, the translation of normal (pinch) forces into shear forces. Errors made with these surgical grippers are often force-related: applying too low pinch forces results in slipping of the tissue out of the gripper, and too high pinch forces may lead to tissue damage. One possible solution for generating tissue grip that is secure yet gentle is the adhesive grip. In this case, contact between tissue and gripper is maintained by attracting gripper-tissue interactions, and gripping strength does not depend on the applied pinch forces. Inspiration for the design of such a gripper can be derived from the tree frog, an animal that uses adhesive grip to grip on a range of substrates in its habitat. The main aim of this thesis is to translate grip-generating principles used by tree frogs into designs of artificial adhesives that can generate firm yet gentle grip on soft substrates. The designs of the artificial adhesives in this thesis are inspired by two important characteristics of the tree frog’s attachment apparatus: the hierarchical surface pattern on the tree-frog toe-pad and reinforcing fibrillar structures located inside the pad. Specifically, the aim of this thesis is to mimic function rather than form, and focuses on mechanisms underlying the tree-frog attachment apparatus to satisfy two main requirements for strong grip: (1) contact formation and (2) preservation of the formed contact.Medical Instruments & Bio-Inspired Technolog

Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues

Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too low pinch forces and tissue damaging due to too high pinch forces. Here, we prototyped a modular surgical gripper with elastomeric soft pads reinforced in the shear direction with a carbon-fiber fabric. The elastomeric component provides low normal stiffness to maximize contact formation without the need of applying high normal loads (i.e. pinch forces), whereas the carbon-fiber fabric offers high shear stiffness to preserve the formed contact under the lateral loads (i.e. shear forces) that occur during tissue lifting. Additionally, we patterned the pads with a sub-surface micropattern, to further reduce the normal stiffness and increase shear stiffness. The body of the prototype gripper, including shaft, joints, and gripper tips, was fabricated in a single step using 3D printing, followed by manual attachment of the soft pads to the gripper. The gripping performance of the newly developed soft gripper on soft tissues was experimentally compared to reference grippers equipped with metal patterned pads. The soft-pad gripper generated similar gripping forces but significantly lower pinch forces than metal-pad grippers. We conclude that grippers with anisotropic-stiffness pads are promising for secure and gentle tissue grip.</p

Effect of lateral reinforcements on the adhesion and friction of micropillar adhesives

Micropillar adhesives have gained increasing attention because they generate high pull-off forces. The generation of high friction, however, has been proven difficult with such geometries, because micropillars tend to buckle under shear loading. Here, we fabricated orthogonal arrays of composite poly-dimethoxysiloxane (PDMS) micropillars with a stiff core and spin-coated them with PDMS solutions to form a soft coating, as well as bridges between neighboring micropillars. We used 10 wt% and 5 wt% PDMS solution to obtain thick or thin bridges, respectively. The micropillars had an average height of about 60 µm and a diameter of 40 µm. Adhesion and friction measurements were performed with three types of adhesives (i.e., without bridges and with either thin or thick bridges) as well as unpatterned samples as reference, on stiff glass substrates and on deformable PDMS substrates. We found that, on PDMS substrates, bridging resulted in increased friction, compared to non-bridged micropillars. Friction increased with increasing bridge thickness, presumably due to buckling prevention. The adhesives were also subjected to 99 repeating friction cycles to test the effect of micropillar bridging on the durability of the adhesives. The results showed that adhesives with thick micropillar bridges preserved their friction performance over the cycles, whereas adhesives with no bridges or thin bridges exhibited a gradual decay of friction.Medical Instruments & Bio-Inspired TechnologyMicro and Nano Engineerin

Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues

Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too low pinch forces and tissue damaging due to too high pinch forces. Here, we prototyped a modular surgical gripper with elastomeric soft pads reinforced in the shear direction with a carbon-fiber fabric. The elastomeric component provides low normal stiffness to maximize contact formation without the need of applying high normal loads (i.e. pinch forces), whereas the carbon-fiber fabric offers high shear stiffness to preserve the formed contact under the lateral loads (i.e. shear forces) that occur during tissue lifting. Additionally, we patterned the pads with a sub-surface micropattern, to further reduce the normal stiffness and increase shear stiffness. The body of the prototype gripper, including shaft, joints, and gripper tips, was fabricated in a single step using 3D printing, followed by manual attachment of the soft pads to the gripper. The gripping performance of the newly developed soft gripper on soft tissues was experimentally compared to reference grippers equipped with metal patterned pads. The soft-pad gripper generated similar gripping forces but significantly lower pinch forces than metal-pad grippers. We conclude that grippers with anisotropic-stiffness pads are promising for secure and gentle tissue grip.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Medical Instruments & Bio-Inspired Technolog

Anisotropic Stiffness Adhesives for High Shear Forces on Soft Substrates

Reversible attachment on soft substrates is useful in a range of applications, including soft robotics and soft-tissue surgical instrumentation. On rigid substrates, the use of micropatterned adhesives has been extensively explored. It has been shown that surface micropatterns provide conformability, thereby enabling the formation and preservation of contact with the substrate. On soft, deformable substrates, on the other hand, surface micropatterns largely lose their functionality. Alternative mechanisms have to be explored to maximize conformability and thus formation and preservation of contact on soft substrates. 3D-printing is used to fabricate adhesives with internal cylindrical pores of various configurations leading to different combinations of high/low normal/shearing stiffness, and shear forces are measured on glass and on soft elastomeric substrates. On the glass substrate, shear forces are highest for the adhesives with the lowest normal stiffness, independently from their shear stiffness. On the soft substrates, the highest shear forces are achieved for the adhesives combining low normal stiffness, enabling contact formation, with high shear stiffness, promoting contact preservation. The beneficial effect of such anisotropic stiffness on shear forces increased with the deformability of the substrate.Medical Instruments & Bio-Inspired Technolog

Design of Tree-Frog-Inspired Adhesives

The adhesive toe pads of tree frogs have inspired the design of various so-called 'smooth' synthetic adhesives for wet environments. However, these adhesives do not reach the attachment performance of their biological models in terms of contact formation, maintenance of attachment, and detachment. In tree frogs, attachment is facilitated by an interconnected ensemble of superficial and internal morphological components, which together form a functional unit. To help bridging the gap between biological and bioinspired adhesives, in this review, we (1) provide an overview of the functional components of tree frog toe pads, (2) investigate which of these components (and attachment mechanisms implemented therein) have already been transferred into synthetic adhesives, and (3) highlight functional analogies between existing synthetic adhesives and tree frogs regarding the fundamental mechanisms of attachment. We found that most existing tree-frog-inspired adhesives mimic the micropatterned surface of the ventral epidermis of frog pads. Geometrical and material properties differ between these synthetic adhesives and their biological model, which indicates similarity in appearance rather than function. Important internal functional components such as fiber-reinforcement and muscle fibers for attachment control have not been considered in the design of tree-frog-inspired adhesives. Experimental work on tree-frog-inspired adhesives suggests that the micropatterning of adhesives with low-aspect-ratio pillars enables crack arresting and the drainage of interstitial liquids, which both facilitate the generation of van der Waals forces. Our analysis of experimental work on tree-frog-inspired adhesives indicates that interstitial liquids such as the mucus secreted by tree frogs play a role in detachment. Based on these findings, we provide suggestions for the future design of biomimetic adhesives. Specifically, we propose to implement internal fiber-reinforcements inspired by the fibrous structures in frog pads to create mechanically reinforced soft adhesives for high-load applications. Contractile components may stimulate the design of actuated synthetic adhesives with fine-tunable control of attachment strength. An integrative approach is needed for the design of tree-frog-inspired adhesives that are functionally analogous with their biological paradigm.Medical Instruments & Bio-Inspired Technolog