Abstract
The demand for thinner instruments for endoscopic surgery has been increasing because thinner instruments minimize invasiveness and increase the applicability of endoscopy. However, in thinner instruments, the end effectors are smaller, which limits instrument functionality. We have developed a new pair of forceps using a least-incision transformable end-effector (LITE) mechanism that transforms its end effectors by increasing its size within the body cavity. In our experiments, the grasping force was measured to be greater than 5.3 N. Five non-specialists and three surgeons performed endoscopy to evaluate the end effector’s transformation and removal times. The average transformation and removal times were 108 ± 37 s and 65 ± 23 s and 86 ± 37 s and 61 ± 27 s, respectively, for the non-specialists and surgeons, respectively. An in vivo experiment was also conducted on a pig using the LITE forceps. Our mechanism is extremely useful for performing least-invasive endoscopy surgeries.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ikuta, K., Sasaki, K., Yamamoto, K., Shimada, T.: Remote Microsurgery System for Deep and Narrow Space – Development of New Surgical Procedure and Micro-robotic Tool. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol. 2488, pp. 163–172. Springer, Heidelberg (2002)
Yamashita, H., Matsumiya, K., Masamune, K., Liao, H., Chiba, T., Dohi, T.: Miniature Bending Manipulator for Fetoscopic Intrauterine Laser Therapy to Treat Twin-to-Twin Transfusion Syndrome. Surgical Endoscopy 22, 430–435 (2008)
Takayama, T., Omata, T., Futami, T., Akamatsu, H., Ohya, T.: Detachable-Fingered Hands for Manipulation of Large Internal Organs. In: 2007 IEEE International Conference on Robotics and Automation, Roma, pp. 244–249 (2007)
Ohshima, R., Takayama, T., Omata, T., Ohya, T.: Assemblable Three Fingered Five-DOF Hand for Laparoscopic Surgery. In: 2008 IEEE International Conference on Robotics and Automation Pasadena, CA, pp. 3896–3901 (2008)
Osaki, M., Takayama, T., Omata, T., Ohya, T., Kojima, K., Takase, K., Tanaka, N.: Single-Trocar Assemblable Retractor-Hand for Laparoscopic Surgery. In: 2009 IEEE International Conference on Robotics and Automation, Kobe (2009)
Heijinsdijkp, E.A.M., Pasdeloup, A., Dankelman, J., Gouma, D.J.: The Optimal Mechanical Efficiency of Laparoscopic Forceps. Surgical Endoscopy 18, 1766–1770 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Nakaji, H., Nakamura, R. (2010). Least-Incision Transformable End-Effector Mechanism for Forceps for Endoscopic Surgery . In: Liao, H., Edwards, P.J."., Pan, X., Fan, Y., Yang, GZ. (eds) Medical Imaging and Augmented Reality. MIAR 2010. Lecture Notes in Computer Science, vol 6326. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15699-1_29
Download citation
DOI: https://doi.org/10.1007/978-3-642-15699-1_29
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15698-4
Online ISBN: 978-3-642-15699-1
eBook Packages: Computer ScienceComputer Science (R0)