Surgical Devices

The SensAtouch grasper uses a patented tooltip that acts as a spring to absorb and notify surgeons of hazardous tissue forces, thereby improving user experience and decreasing patient risks.

Nonlinear Force Transmission

When users operate the device, they feel a gentle resistance in the handle, similar to a joystick, which enhances their awareness of the tooltip. As users apply more force, the tooltip can absorb excess forces as strain energy, preventing excess forces from damaging tissue.

Shape Conformity

The flexible tooltip distributes applied forces to eliminate pinch points and reduce the risk of tissue slippage associated with inadvertent tissue trauma.

Haptic Feedback

The tooltip provides a subtle ‘click’ sensation felt through the instrument handle, alerting surgeons when the applied force exceeds a predefined threshold. This threshold is calibrated by adjusting the geometric properties — such as length, width, and thickness — allowing for customized limits tailored to specific surgical tasks.

The SEED Lab is proud to work with clinicians at Purdue's Veterinary School, who are committed to enhancing veterinary procedures for animals and their potential benefits for humans.

Competitive Analyses

User Observations

Focus Groups

User Surveys

The SEED Lab creates prototypes that comply with medical regulations for testing in relevant environments.

Clinical Prototypes

Design for Manufacturing

Clinical Test Equipment

Bench Test Equipment

The SEED Lab uses computational tools and design of experiments to optimize prototype behaviors.

Biocompatibility

User Acceptance

Manufacturability

Regulatory Compliance

Surgeons can test innovative surgical devices within laparoscopic box trainer systems.

Human Study Design

Clinical Safety

Clinical Effectiveness

Marketing Claims

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2022, Purdue Polytechnic Institute, Realizing the Digital Enterprise Seed Grant, Surgical device, PI

Aguirre M, Horeman T. Mechanical End-Effector. 2020/12. US10881421B2 and WO2016056908A1. Granted.

Fernandez-Montoya M, Hao Y, Gallego JA, Aguirre M. (2024). A multi-modal fully compliant mechanism with tunable force transmission for laparoscopic grasping. Journal of Mechanism and Robotics. Under Review.
Mohanty VK, M., Ranganathan SJ, Vallinayagam HR, Aguirre, ME. (2024). August. Characterization of a compliant mechanism gripper with visual force feedback capabilities. Proceedings in International Design Engineering Technical Conferences and Computers and Information in Engineering (IDETC-CIE) Conference. American Society of Mechanical Engineers.
Fernández-Montoya, M., Gallego Sanchez, J.A. and Kommuri, K.D., Aguirre, M.E., (2023), August. Design Verification of a Multi-Modal Compliant Mechanism Intended to Enhance Safety in Handheld Laparoscopic Tissue Grasping. Proceedings in International Design Engineering Technical Conferences and Computers and Information in Engineering (IDETC-CIE) Conference. American Society of Mechanical Engineers.
Aguirre M, Kommuri KD, Isbister DJ, Gallego JA. (2022). Multi-modal mechanism for enhancing haptics and safety in handheld surgical grasping. Proceedings in IEEE Haptics Symposium. Santa Barbara, CA.
Jovanova J, Nastevska A, Frecker M, Aguirre M. (2018). Analysis of a functionally graded compliant mechanism surgical grasper. Reconfigurable Mechanisms and Robots – ReMAR Conference, Delft, Netherlands

SEED Lab conducts research and development in assistive and surgical technologies. Our prototypes and findings are for informational and experimental purposes only and should not be considered medical advice or a substitute for professional healthcare. SEED Lab does not guarantee the safety, efficacy, or regulatory approval of any devices under development. Always consult a qualified medical professional before using any assistive or medical device.

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