Patent ID: 11926046
Assignee: REON EHF.
Field: Medical technology (Instruments)
Classification: CPC B  A  F | IPC A  B  F

Claim 10:
11. A compliant grasper comprising
at least two jaws that can be moved towards and away from each other, to hold and release an object in between the jaws, wherein the jaws are moved through a compliant bending mechanism,
a handle portion for actuating the compliant bending mechanism,
a moveable actuation member for transferring movement from said handle portion to said compliant bending mechanism, and
a static balancer connected to the compliant bending mechanism,
the static balancer comprising
at least one pair of oppositely arranged first stiffness elements,
at least one pair of oppositely arranged adjustable second stiffness elements,
wherein said first stiffness element exerts a negative force in an axial direction for counteracting at least partially a positive actuation force of the compliant bending mechanism,
wherein said first stiffness elements are connected on their proximal ends to said moveable actuation member, and on their distal end to one of said adjustable second stiffness element, and wherein one or both said ends of the at each least one first stiffness element has a pinned configuration, such that said first stiffness elements exert a positive force on the adjustable second stiffness elements and said adjustable second stiffness elements are able to absorb at least a portion of said positive force,
wherein when stiffness of the adjustable second stiffness elements is adjusted the negative force of said first stiffness elements in the axial direction is altered.