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Updated: Jul 8, 2025
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Advancing minimally invasive surgery: A cutting-edge cable-actuated conveying mechanism for reliable tissue
Vera Gesina Kortman1, Yinte Verberne1, Jovana Jovanova2
1Faculty of 3mE, Department of BioMechanical Engineering, Delft University of Technology, Delft, The Netherlands.
Introduction:
Tissue extraction plays a crucial role in various medical disciplines, with aspiration catheters serving as the prevailing method. Unfortunately, these catheters face limitations such as clogging and dependence on tissue properties and device dimensions. Therefore, there is a pressing need for an improved tissue extraction device that enables efficient and reliable tissue removal during Minimally Invasive Surgery (MIS).
Methods:
In this study, we present a novel tissue transport system that utilizes a cylindrical conveyor belt mechanism for reliable tissue transportation. We conducted experiments using a proof-of-principle prototype to explore the influence of tissue elasticity, rotational velocity, instrument orientation, and tissue shape on the transportation rate, efficiency, and reliability. Tissue phantoms with gelatine concentrations of 3, 9, and 12 wt% were employed to simulate a range of Young's moduli from 1 to 110 kPa.
Results:
The mean transportation rates for these phantoms were 7.75±0.48, 8.43±1.50, and 8.90±0.56 g/min, respectively. Notably, all phantoms were transported successfully. The perfect reliability exhibited underscores the potential of our instrument as an alternative to aspiration catheters. CONCLUSION: This research presents a significant step forward in the field of tissue extraction, offering a promising approach for MIS with enhanced efficiency and reliability.
