Passive Instrument Holder for Collaborative Robotic Nursing Applications - Automatically Designed and 3D-printed

In the medical field - especially in nursing - collaborative robotic systems are rarely used as they are not yet a real facilitator in practical application. However, the increased use of such systems would be particularly valuable due to the shortage of skilled workers in this field. The systems must become easier to use and more flexible in application for the mostly non-technical users. A simple and safe interaction with the robotic end effectors is especially important, because in collaborative systems the caregiver or patient are in direct contact with them.To advance collaborative robotics for nursing, an instrument holder was developed as end effector, under consultation of the target group. It was indicated by them that less complex systems are preferred. In addition, solutions that give the user direct visual and haptic feedback and promise simple correction options for the alignment of the instrument were selected. The outcome is based on a passive (no actuators) bistable clamping principle. It is activated by pressing the instrument onto two flexible belts through which they wrap around the handle. The design process was automated essentially by setting the handle geometry in relation to a cubic Bezier curve.In a first application "hair blow-drying with severely limited shoulder mobility"it was shown, that this passive bistable instrument holder can be a facilitator for nontechnical users. The instrument is pressed into the holder and then held in the desired position. Together with a robot, it can additionally be moved. In operation the holder was intuitive to users and saved time and physical effort. It would also be able to assist in similar tasks. For more complicated tasks or people in need of more intensive care, it is worthwhile to further research this collaborative system and expand it with sensors and independent grasping techniques.