Design of a non-destructive gripper based on flexible materials

Vascular interventional surgery is an effective method for the treatment of cardiovascular and cerebrovascular diseases, and compared with traditional surgery, vascular interventional surgery is a minimally invasive surgery, causing less damage to patients and faster postoperative recovery. Catheters and guide wires are important medical devices for interventional procedures, because they need to travel a long distance in the body, and the operation time may last for several hours. During the operation, changing the equipment will reduce the efficiency of the operation and increase the insecurity of the operation. Therefore, the non-destructive clamping of the catheter guide wire is very important. We proposed a soft clamping method, and redesigned the clamping module of the end effector for this clamping method, and carried out the force analysis and structural force analysis of the module. The results show that the module has good clamping effect and protection effect on the catheter and guide wire, and the structure is relatively stable.