OriGrasp: A Multifunctional Origami‐Inspired Instrument for Delicate Manipulation in Abdominal Surgery

Conventional instruments for minimally invasive surgery (MIS) face challenges in terms of miniaturization and compliance with soft tissues due to their tiny yet rigid structure. In abdominal surgery, rigid instruments increase the risk of bowel injury, as this tissue is extremely delicate and prone to peeling, stretching, or tearing. By leveraging the principles of origami, instruments can be designed and fabricated by folding 2D shapes, simplifying the manufacturing process. The foldability enables the creation of reconfigurable instruments capable of performing multiple functions, all while operating through tiny access ports and within narrow cavities with minimal invasiveness. This paper presents a deployable origami-inspired instrument for robot-assisted MIS, characterized by lightweight construction and tunable compliance. The foldable design supports multiple surgical functions, enabling the integration of additional tools at the tip in its unfolded configuration or functioning as a grasper for tissue manipulation once deployed. In grasper mode, the flexible structure is designed to deform upon contact with surrounding tissues, either during insertion into narrow cavities or when the grasper is actuated. This deformation ensures a secure and safe grasp of the tissues. The maximum pinch force achieved by the grasper is 4 N, while the pulling and lifting forces are within the range reported in literature for atraumatic manipulation of bowel tissue (0.18–1.21 N). The grasper‘s jaws were studied in terms of material selection and geometry to achieve a compromise between soft grasping and effective pulling force. Experimental tests demonstrated the grasper's capability not to apply excessive pressure on the tissue (well below the safety threshold of 329 kPa for bowel tissue), while maintaining a firm grasp during the manipulation of ex vivo porcine bowel tissue. Finally, the successful integration of the instrument into a da Vinci Research Kit robotic platform highlights its potential usability in surgical scenarios.