Design and Evaluation of a Balanced Compliant Laparoscopic Grasper.
Laparoscopic surgery
compliant mechanisms
grasping
haptic feedback
static balancing
Journal
IEEE journal of translational engineering in health and medicine
ISSN: 2168-2372
Titre abrégé: IEEE J Transl Eng Health Med
Pays: United States
ID NLM: 101623153
Informations de publication
Date de publication:
2023
2023
Historique:
received:
13
02
2023
revised:
17
05
2023
accepted:
27
06
2023
medline:
12
10
2023
pubmed:
11
10
2023
entrez:
11
10
2023
Statut:
epublish
Résumé
In laparoscopic surgery, quality of haptic feedback is reduced compared to conventional surgery, leading to unintentional tissue damage during grasping. From the perspective of haptics, poor mechanical design of laparoscopic instrument joints induces friction and a nonlinear actuation-tip force relation. In this study, a novel laparoscopic grasper using compliant joints and a magnetic balancer is presented, and the reduction in hysteresis and friction is evaluated. The hysteresis loop of the novel compliant grasper and two conventional laparoscopic graspers (high quality leading commercial brand and low quality unbranded grasper) were measured. In order to assess quality of haptic feedback, the lowest grasper tip load perceivable by instrument users was measured with the novel and the conventional laparoscopic graspers. The hysteresis loop measurement yielded a mechanical efficiency of 43% for the novel grasper, compared to- 25% and 23% for the Aesculap and the unbranded grasper, respectively. The forces perceivable by the user through the novel grasper were significantly lower (mean 1.37N, SD 0.44N) than those of conventional graspers (mean 2.15N, SD 0.71N and mean 2.65N, SD 1.20N, respectively). The balanced compliant grasper technology has the ability to improve the quality of haptic feedback compared to conventional laparoscopic graspers. Research is needed to relate these results to soft and delicate tissue grasping in a clinical setting, for which this instrument is intended.
Identifiants
pubmed: 37817822
doi: 10.1109/JTEHM.2023.3291925
pmc: PMC10561751
doi:
Types de publication
Journal Article
Research Support, Non-U.S. Gov't
Langues
eng
Sous-ensembles de citation
IM
Pagination
451-459Informations de copyright
© 2023 The Authors.
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