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


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.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

Compliant scissors-forceps design

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Figure 2

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

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Figure 3

Pseudo-rigid body model

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Figure 4

Compliant mechanism variables

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Figure 5

Results for 0.5mm compliant mechanism

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Figure 6

Results for 5.0mm compliant mechanism

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Figure 7

Finite element model of scissors-forceps

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Figure 8

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

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Figure 9

Prototype compliant multifunctional scissors-forceps

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Figure 10

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

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Figure 11

Pull-off force test setup

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Figure 12

Grasping force test setup



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