Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concept validation of a monolithic, fully compliant, bistable, laparoscopic grasper that eliminates the need for multiple rigid links, thereby reducing part count. The device integrates a compliant trigger and a compliant gripper end-effector, coupled via a control push-rod, to achieve stable grasping without continuous user input. The trigger mechanism is synthesized using a Two-Element Beam Constraint Model as a design framework to control the deformation and stiffness of V-beam-like elements. This technique enables elastic energy storage while preventing snap-through instability. The end-effector is designed as a compliant gripper to achieve adaptive grasping through elastic deformation. Jaws' opening-and-closing performance is demonstrated using nonlinear finite element analysis. The laparoscopic design presented here is fabricated using fused deposition 3D printing. The fabricated prototype demonstrates reliable bistable actuation, confirming the feasibility of such compliant laparoscopic grasper architectures.

翻译：工业腹腔镜抓钳采用紧公差制造的多连杆刚性机构，导致高昂的制造与装配成本。本文提出一种单块式全柔性双稳态腹腔镜抓钳的设计与概念验证，该设计无需使用多个刚性连杆，从而减少零件数量。该装置集成了柔性触发机构和柔性夹爪末端执行器，通过控制推杆耦合，可实现无需持续用户输入的稳定抓取。触发机构采用双梁约束模型作为设计框架进行综合，以控制V形梁类元件的变形与刚度。该技术能够在防止突弹失稳的同时存储弹性势能。末端执行器被设计为柔性夹爪，通过弹性变形实现自适应抓取。采用非线性有限元分析验证了钳口的开合性能。本文提出的腹腔镜设计方案通过熔融沉积3D打印制造。所制备的原型机展示了可靠的双稳态驱动，证实了此类柔性腹腔镜抓钳架构的可行性。