A Soft Retraction System for Surgery Based on Ferromagnetic Materials and Granular Jamming

Area of Science:

• Surgical Technology
• Biomedical Engineering
• Robotics

Background:

• Minimally invasive surgery (MIS) demands high operator skill due to technical limitations.
• Tissue manipulation and retraction, especially for abdominal organs like the liver, stomach, and intestines, are particularly challenging in MIS.
• Existing commercial and research retraction systems have limitations that necessitate improved solutions.

Purpose of the Study:

• To design, create, and validate a novel retraction system for MIS.
• The system aims to be simple, reliable, user-friendly, safe, and compatible with MIS procedures.
• To overcome the limitations of current retraction technologies in abdominal surgery.

Main Methods:

• The retractor features a soft central component utilizing granular jamming for variable stiffness.
• Two iron cylinders at the extremities enable magnetic anchoring to the abdominal wall using external permanent magnets.
• Design was informed by granular jamming principles and ferromagnetic properties; validation involved ex vivo and in vivo assessments.

Main Results:

• The developed retractor demonstrated safe introduction and stable retraction capabilities.
• Variable stiffness was achieved through granular jamming, adapting to surgical needs.
• Magnetic anchoring provided reliable fixation to the abdominal wall.

Conclusions:

• The proposed soft retractor with variable stiffness offers a promising solution for challenging abdominal retraction tasks in MIS.
• The system's design integrates granular jamming and magnetic anchoring for enhanced safety, reliability, and ease of use.
• This innovative approach has the potential to improve surgical outcomes and expand the applicability of MIS.