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2.5-mm articulated endoluminal forceps using a compliant mechanism.
Keisuke Osawa1, D S V Bandara2, Ryu Nakadate3
1Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka, 819-0395, Japan. osawakeisuke0@gmail.com.
Summary
A new 2.5-mm articulated forceps using a compliant mechanism offers improved dexterity for endoscopic procedures. This compact, cost-effective device enables precise tissue manipulation in narrow lumens.
Area of Science:
- Medical Devices
- Minimally Invasive Surgery
- Robotics
Background:
- Gastrointestinal cancer treatment often involves flexible endoscopes.
- Existing endoscopic instruments have limited degrees of freedom (DOFs), requiring high operator skill.
- Current articulated devices for endoluminal procedures are often large and expensive.
Purpose of the Study:
- To develop a compact and affordable 2.5-mm articulated forceps for endoscopic procedures.
- To overcome the limitations of size and cost associated with current endoscopic instruments.
- To create a device insertable into standard endoscope channels using a compliant mechanism.
Main Methods:
- Designed a compliant mechanism for a monolithic, compact structure.
- Incorporated two segments: 1-DOF grasping and 2-DOF bending.
- Utilized tendon-sheath actuation and finite element analysis for prototype design.
- Fabricated a prototype using 3D printing.
Main Results:
- The 2.5-mm forceps achieved 1-DOF grasping and 2-DOF bending.
- Demonstrated a range of motion for grasping and bending.
- Successfully resected tissue using an electric knife while manipulating with the forceps in a porcine colon model.
Conclusions:
- The compliant mechanism offers a simpler, potentially more cost-effective, and disposable solution for endoscopic instruments.
- The developed forceps show feasibility for dexterous operation in narrow lumens.
- This technology could enhance minimally invasive gastrointestinal treatments.
