0
TECHNICAL BRIEFS

Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery

[+] Author and Article Information
Mary I. Frecker1

Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802mxf36@psu.edu

Katherine M. Powell

Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802

Randy Haluck

Department of Surgery,  The Pennsylvania State University, Hershey, PA 17033

1

Corresponding author: 326 Leonhard Bldg., University Park, PA 16802. Phone: 814-865-1617. Fax: 814-865-9693.

J Biomech Eng 127(6), 990-993 (Jul 08, 2005) (4 pages) doi:10.1115/1.2056560 History: Received April 08, 2005; Revised July 08, 2005

A new multifunctional compliant instrument has been designed for use in minimally invasive surgery. The instrument combines scissors and forceps into a single multifunctional device. The main advantage of using multifunctional instruments for minimally invasive surgery is that instrument exchanges can be reduced, thus reducing procedure time and risk of inadvertent tissue injury during instrument exchanges. In this paper, the length, width, and thickness of the multifunctional compliant mechanism tool tip is optimized to maximize the jaw opening and the grasping force. The optimized design is then modeled to simulate the stresses encountered in the scissors mode. A 5.0mm diameter stainless steel prototype is fabricated using electro-discharge machining and is shown to grasp and cut successfully.

FIGURES IN THIS ARTICLE
<>
Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 6

Results for 5.0mm compliant mechanism

Grahic Jump Location
Figure 7

Finite element model of scissors-forceps

Grahic Jump Location
Figure 8

Von Mises stress distribution (MPa) for scissors-forceps (half-symmetry model)

Grahic Jump Location
Figure 9

Prototype compliant multifunctional scissors-forceps

Grahic Jump Location
Figure 10

Prototype grasping an egg membrane. Note cut made by scissors.

Grahic Jump Location
Figure 11

Pull-off force test setup

Grahic Jump Location
Figure 12

Grasping force test setup

Grahic Jump Location
Figure 5

Results for 0.5mm compliant mechanism

Grahic Jump Location
Figure 4

Compliant mechanism variables

Grahic Jump Location
Figure 3

Pseudo-rigid body model

Grahic Jump Location
Figure 2

Compliant mechanism model. A-B is treated as a flexible beam; sections B-C and C-D are assumed to be rigid

Grahic Jump Location
Figure 1

Compliant scissors-forceps design

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In