TiBCLaG: Hybrid design approach for a trigger-induced bistable compliant laparoscopic grasper

Abstract Industrial laparoscopic graspers rely on 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. A hybrid approach combining an analytical model, iterative prototyping, and finite element analyses is employed to design the laparoscopic grasper. The trigger mechanism is synthesized using a Two-Element Beam Constraint Model as a design framework to control the deformation and stiffness of I-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. The laparoscopic design presented here is fabricated using fused deposition 3D printing. A comparative study of the jaws' opening and closing performance is presented using nonlinear finite element analysis and experimentation. The fabricated prototype demonstrates reliable bistable actuation, confirming the feasibility of such compliant laparoscopic grasper architectures.