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Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors.

Dennis Braun1, David Weik1, Sophia Elsner1

  • 1Fraunhofer Institute for Machine Tools and Forming Technology, Department of Medical Engineering, Nöthnitzer Str. 44, 01187 Dresden, Germany.

Materials (Basel, Switzerland)
|September 10, 2021
PubMed
Summary

This study introduces a novel handheld instrument using shape memory alloys (SMA) to enhance surgeon control and haptic feedback in minimally invasive surgery, improving patient safety and surgical precision.

Keywords:
actuationforce feedbacknitishape memory alloyssurgical instrument

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Materials Science

Background:

  • Minimally invasive surgery (MIS) offers patient benefits but limits surgeon dexterity and haptic feedback due to small incisions.
  • Reduced instrument maneuverability and poor tactile sensation in MIS can lead to inadvertent tissue damage.
  • Existing laparoscopic instruments lack the advanced control and feedback found in surgical robots.

Purpose of the Study:

  • To develop a control concept for position control and force estimation in a novel handheld instrument for MIS.
  • To integrate shape memory alloys (SMA) for actuation and haptic feedback, bridging the gap between manual and robotic surgical tools.
  • To enhance surgeon sensitivity and prevent tissue damage during minimally invasive procedures.

Main Methods:

  • Development of a control concept for precise position control and accurate force estimation.
  • Utilization of nickel-titanium shape memory alloys (SMA) for high-specific energy density actuation.
  • Manufacturing of a functional proof-of-concept model including a forceps mechanism, electronic circuitry, and an ergonomic user interface.

Main Results:

  • Successful development of a functional model demonstrating the feasibility of SMA-based haptic feedback in MIS instruments.
  • Implementation of position control and gripping force measurement capabilities.
  • Creation of an ergonomic user interface providing crucial haptic force feedback to the surgeon.

Conclusions:

  • The developed SMA-based control concept offers a promising solution for enhancing haptic feedback in minimally invasive surgery.
  • This novel instrument design can improve surgeon control, reduce the risk of tissue damage, and enhance procedural safety.
  • The technology represents a significant step towards more intuitive and safer minimally invasive surgical interventions.