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2.5-mm articulated endoluminal forceps using a compliant mechanism

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Gastrointestinal cancer can be treated using a flexible endoscope through a natural orifice. However, treatment instruments with limited degrees of freedom (DOFs) require a highly skilled operator. Articulated devices useful for endoluminal procedures, such as endoscopic submucosal dissection and biopsy, have been developed. These devices enable dexterous operation in a narrow lumen; however, they suffer from limitations such as large size and high cost. To overcome these limitations, we developed a 2.5-mm articulated forceps that can be inserted into a standard endoscope channel based on a compliant mechanism.

Methods

The compliant mechanism allows the device to be compact and affordable, which is possible due to its monolithic structure. The proposed mechanism consists of two segments, 1-DOF grasping and 2-DOF bending, that are actuated by tendon-sheath mechanisms. A prototype was designed based on finite element analysis results.

Results

To confirm the effectiveness of the proposed mechanism, we fabricated the prototype using a 3D printer. A series of mechanical performance tests on the prototype revealed that it achieved the following specifications: (1) DOF: 1-DOF grasping + 2-DOF bending, (2) outer diameter: 2.5 mm, (3) length of the bending segment: 30 mm, and (4) range of motion: \(0^{\circ }\) to \(20^{\circ }\) (grasping) and \(-\,90^{\circ }\) to \(+\,90^{\circ }\) (bending). Finally, we performed a tissue manipulation test on an excised porcine colon and found that a piece of mucous membrane tissue was successfully resected using an electric knife while being lifted with the developed forceps.

Conclusion

The results of the evaluation experiment demonstrated a positive feasibility of the proposed mechanism, which has a simpler structure compared to those of other conventional mechanisms; furthermore, it is potentially more cost-effective and is disposable. The mechanical design, prototype implementation, and evaluations are reported in this paper.

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Funding

This work was supported by JST SPRING (grant number JPMJSP2136).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan

    Keisuke Osawa, D. S. V. Bandara & Jumpei Arata

  2. Center for Advanced Medical Open Innovation, Kyushu University, Fukuoka, 812-8582, Japan

    Ryu Nakadate & Masatoshi Eto

  3. Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka, 812-8582, Japan

    Yoshihiro Nagao & Masatoshi Eto

  4. Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka, 812-8582, Japan

    Tomohiko Akahoshi

Authors
  1. Keisuke Osawa
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  2. D. S. V. Bandara
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  3. Ryu Nakadate
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  4. Yoshihiro Nagao
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  5. Tomohiko Akahoshi
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  6. Masatoshi Eto
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  7. Jumpei Arata
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Corresponding author

Correspondence to Keisuke Osawa.

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Osawa, K., Bandara, D.S.V., Nakadate, R. et al. 2.5-mm articulated endoluminal forceps using a compliant mechanism. Int J CARS 18, 1–8 (2023). https://doi.org/10.1007/s11548-022-02726-9

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  • DOI: https://doi.org/10.1007/s11548-022-02726-9

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