Development of bending and grasping manipulator for multi degrees of freedom ultrasonically activated scalpel

T. Hasuo*, G. Ogura, I. Sakuma, E. Kobayashi, H. Iseki, R. Nakamura

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

New surgical techniques is realized by integration of a small functional module on the tip of the forceps that has multi degrees of freedom (DOF) since it enables compex manipulation and treatment of limited workspace We developed a new multi-DOFs ultrasonically activated scalpel (UAS) prototype. This prototype has two DOFs of bending and grasping realized by antagonistic wire mechanism. The bending angle of this manipulator ranges + /- 120[deg], and the operating angle of the grasping blade ranges 30[deg]. Grasping torque is sufficient to grasp tissue to coagulate. We confirmed that our prototype could incise and coagulate tissue effectively through in vivo experiment. This newly developed multi-DOFs UAS is a powerful equipment for minimally invasive laparoscopic surgery.

Original languageEnglish
Pages (from-to)222-223
Number of pages2
JournalInternational Journal of Computer Assisted Radiology and Surgery
Volume1
Issue numberSUPPL. 7
Publication statusPublished - 2006 Jun
Externally publishedYes

Keywords

  • Bending forceps
  • Harmonic Scalpel®
  • Laparoscopic surgery
  • Minimally invasive surgery
  • Surgical robot
  • Wire mechanism

ASJC Scopus subject areas

  • Health Informatics
  • Radiology Nuclear Medicine and imaging
  • Computer Vision and Pattern Recognition
  • Surgery
  • Biomedical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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