Technical Briefs

DragonFlex – Smart Steerable Laparoscopic Instrument

[+] Author and Article Information
Paul Breedveld

BioMechanical Engineering Department Faculty Mechanical,
Maritime & Materials Eng.,
Delft University of Technology,
The Netherlands

Manuscript received March 15, 2013; final manuscript received April 24, 2013; published online June 12, 2013. Editor: Arthur G. Erdman.

J. Med. Devices 7(2), 020911 (Jun 12, 2013) (2 pages) Paper No: MED-13-1054; doi: 10.1115/1.4024319 History: Received March 15, 2013; Revised April 24, 2013

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Breedveld, P., Stassen, H. G., Meijer, D. W., and Jakimowicz, J. J., 1999, “Manipulation in laparoscopic surgery: Overview of Impeding Effects and Supporting Aids,” J. Laparoendoscopic Adv. Surgical Techniques-Part A, 9(6), pp. 469–480. [CrossRef]
Senapati, S., and Advincula, A., 2007, “Surgical techniques: Robot-Assisted Laparoscopic Myomectomy With the da Vinci Surgical System,” J. Robotic Surgery, 1(1), pp. 69–74. [CrossRef]
Palep, J. H., 2009, “Robotic Assisted Minimally Invasive Surgery,” J. Minimal Access Surgery, 5(1), pp. 1–7. [CrossRef]
Jobin, J.-P., Buddenberg, H. S., and Herder, J. L., 2004, “An Underactuated Prosthesis Finger Mechanism With Rolling Joints,” ASME Conference Proceedings, 2004(46954), pp. 549–559.
Yan, X., and Gu, P., 1996, “A Review of Rapid Prototyping Technologies and Systems,” Computer-Aided Design, 28(4), pp. 307–318. [CrossRef]


Grahic Jump Location
Fig. 4

Real scale DragonFlex prototype with a close-up view on the tip showing gears and protrusions preventing any unwanted sideways motion (arrows show 7 instrument DOF)

Grahic Jump Location
Fig. 1

Close-up of EndoWrist [2] and simplified exploded view showing EndoWrist's steering principle with pulleys and cables [1]

Grahic Jump Location
Fig. 3

Rolling joint concept with cable moment arms A mutually equal at 0 deg and ±90 deg bends

Grahic Jump Location
Fig. 2

Once axisymmetric arced guides are implemented, the cable bending radius RA is far superior to the pulley's radius RP at a given element width W



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