微创手术操作器械，作为微创手术机器人的重要组成部分，其性能的优劣直接影响手术的质量。目前的微创手术器械大多是针对手术过程中的夹取、缝合等基本操作设计的，但由于它们通常是通过简单地将传统外科手术工具小型化获得的，造成现有微创器械普遍存在着机械效益低、磨损严重、运动不协调等问题。为了提高手术操作的高效性和稳定性，基于厚板折纸理论设计了一种专门用于微创手术的新型手术钳，分析与试验表明其可提供多于传统微创手术钳1.5倍的夹持力，并具有更大的张角和更好的运动协调性，同时增加了手术操作的灵活性。动物试验表明其夹持组织更加稳定可靠。
Minimally invasive surgical instruments, as an essential component of surgical robots, play a critical role in the minimally invasive surgery (MIS). Currently most instruments for MIS are designed to realize basic operations such as clipping and stitching. They are often developed by miniaturization of traditional surgical tools, and therefore have the problems of low mechanical efficiency, severe wearing, and poor movement coordination. In order to improve the efficiency and stability of MIS, new surgical tweezers are designed based on origami of thick panel. Analytical and experimental studies show that the new design can offer 1.5 times more clamping force than its conventional counterpart. Furthermore, it has a larger opening angle and better movement coordination, thereby providing better flexibility of operation. Animal trials are also conducted, which confirms that the new device can clamp tissues in a more stable and reliable manner.
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