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Research Papers

A Novel Structure of a Less Invasive Forceps to Realize Linear Clamping for Endoscopic Surgery

[+] Author and Article Information
Ruzhen Zhao

State Key Laboratory of Mechanical Systems
and Vibration,
Institute of Biomedical Manufacturing
and Life Quality Engineering,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 200240, China
e-mail: deep-dimples@sjtu.edu.cn

Shuang Zhao

School of Mechanical Engineering,
Shanghai Dian Ji University,
1201 Jiang Chuan Road,
Shanghai, China
e-mail: zhaoshuang@sjtu.edu.cn

Yuanjun Sang

State Key Laboratory of Mechanical Systems
and Vibration,
Institute of Biomedical Manufacturing
and Life Quality Engineering,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 200240, China
e-mail: sangyuanjun@sjtu.edu.cn

Yun Luo

State Key Laboratory of Mechanical Systems
and Vibration,
Institute of Biomedical Manufacturing
and Life Quality Engineering,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 200240, China
e-mail: luoyun@sjtu.edu.cn

1Corresponding author.

Manuscript received August 13, 2013; final manuscript received February 10, 2014; published online August 19, 2014. Assoc. Editor: Carl A. Nelson.

J. Med. Devices 8(4), 041001 (Aug 19, 2014) (5 pages) Paper No: MED-13-1196; doi: 10.1115/1.4026829 History: Received August 13, 2013; Revised February 10, 2014

Safety is always a commonly concerned issue during the development of minimally invasive surgery for more than 30 yr. For the absence of force feedback in conventional forceps, excessive pressure may be applied on tissues leading to unexpected injury. In this paper, a gear-rack endoscopic forceps structure embedded with a shape memory alloy (SMA) is proposed to solve this problem. The gear-rack jaws structure enables a linear relation between clamping pressure and handling force which makes the estimating clamping force easier for a surgeon. The SMA wire is embedded to control the clamping pressure at a certain value which is necessary and sufficient for tissue clamping. In this way, the forceps with these two features could make surgery much safer. A prototype is designed to demonstrate the concept.

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References

Westebring-van der Putten, E. P., Goossens, R. H. M., Jakimowicz, J. J., and Dankelman, J., 2008, “Haptics in Minimally Invasive Surgery—A Review,” Minimally Invasive Ther., 17(1), pp. 13–16. [CrossRef]
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Dankelman, J., Wentink, M., Stassen, H. G., 2003, “Human Reliability and Training in Minimally Invasive Surgery,” Minimally Invasive Ther. Allied Technol., 12(3-4), pp. 129–135. [CrossRef]
Slayback, J. B., Bowen, W. W., Hinshaw, D. B., 1976, “Intimal Injury From Arterial Clamps,” Am. J. Surg., 132(2), pp. 183–188. [CrossRef] [PubMed]
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Takaki, T., Omasa, Y., Ishii, I., Kawahara, T., and Okajima, M., 2010, “Force Visualization Mechanism Using a Moiré Fringe Applied to Endoscopic Surgical Instruments,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3–7, pp. 3648–3653. [CrossRef]
Lan, C. C., and Wang, J. Y., “Design of Adjustable Constant-Force Forceps for Robot-Assisted Surgical Manipulation,” IEEE International Conference on Robotics and Automation (ICRA), Shanghai, May 9–13, pp. 386–391. [CrossRef]
Rosen, J., Hannaford, B., MacFarlane, M. P., and Sinanan, M. N., 1999, “Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery—Experimental Performance Evaluation,” IEEE Trans. Biomed. Eng., 46(10), pp. 1212–1221. [CrossRef] [PubMed]
Tholey, G., Desai, J. P., and Castellanos, A. E., 2005, “Force Feedback Plays a Significant Role in Minimally Invasive Surgery,” Ann. Surg., 241(1), pp. 102–109. [CrossRef] [PubMed]
Luo, Y., Kodaira, S., Zhang, Y., and Takagi, T., 2007, “The Application of Superelastic SMAs in Less Invasive Haemostatic Forceps,” Smart Mater. Struct., 16(4), pp. 1061–1065. [CrossRef]
Zhao, S., Luo, Y., and Wang, M., 2010, “Design of an SMA Embedded Clamps for Endoscopic Surgery,” Int. J. Appl. Electromagn. Mech., 33(3-4), pp. 973–978.
Ryuta, S., Tsutomu, O., Hideyuki, A., Kazuhiko, O., Shinichi, O., Tsuguo, O., Kiyotoshi, S., and Takeshi, T., “Medical Treatment Device,” Japan Patent No. 07-265326A.

Figures

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Fig. 1

Schematic of typical endoscopic forceps

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Fig. 2

Configuration of the first type forceps (left) and the ratio between F and Fx (right)

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Fig. 3

Configuration of the second type forceps (left) and the ratio between F and Fx (right)

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Fig. 4

Illustration of the new forceps

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Fig. 5

Configuration of the new forceps and the linear relation between F and Fx

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Fig. 6

Prototype of the new less invasive forceps

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Fig. 7

Experimental setup

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Fig. 8

Different positions for three tissue models to produce the same pressure

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Fig. 9

Displacement dependences of tension and clamping pressure for model C at position a

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Fig. 10

Clamping pressure dependences of the tension of model C at position a

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Fig. 11

Displacement dependences of clamping pressure for models A, B, and C at position a

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Fig. 12

Displacement dependences of clamping pressure for models A, B, and C at positions a, b, and c, respectively

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