Development of bending and grasping manipulator for multi degrees of freedom ultrasonically activated scalpel

T. Hasuo, G. Ogura, I. Sakuma, E. Kobayashi, Hiroshi Iseki, R. Nakamura

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

New surgical techniques is realized by integration of a small functional module on the tip of the forceps that has multi degrees of freedom (DOF) since it enables compex manipulation and treatment of limited workspace We developed a new multi-DOFs ultrasonically activated scalpel (UAS) prototype. This prototype has two DOFs of bending and grasping realized by antagonistic wire mechanism. The bending angle of this manipulator ranges + /- 120[deg], and the operating angle of the grasping blade ranges 30[deg]. Grasping torque is sufficient to grasp tissue to coagulate. We confirmed that our prototype could incise and coagulate tissue effectively through in vivo experiment. This newly developed multi-DOFs UAS is a powerful equipment for minimally invasive laparoscopic surgery.

Original languageEnglish
Pages (from-to)222-223
Number of pages2
JournalInternational journal of computer assisted radiology and surgery
Volume1
Issue numberSUPPL. 7
DOIs
Publication statusPublished - 2006 Jun
Externally publishedYes

Fingerprint

Manipulators
Tissue
Minimally Invasive Surgical Procedures
Torque
Surgical Instruments
Laparoscopy
Surgery
Wire
Equipment and Supplies
Experiments

Keywords

  • Bending forceps
  • Harmonic Scalpel®
  • Laparoscopic surgery
  • Minimally invasive surgery
  • Surgical robot
  • Wire mechanism

ASJC Scopus subject areas

  • Transplantation
  • Radiology Nuclear Medicine and imaging

Cite this

Development of bending and grasping manipulator for multi degrees of freedom ultrasonically activated scalpel. / Hasuo, T.; Ogura, G.; Sakuma, I.; Kobayashi, E.; Iseki, Hiroshi; Nakamura, R.

In: International journal of computer assisted radiology and surgery, Vol. 1, No. SUPPL. 7, 06.2006, p. 222-223.

Research output: Contribution to journalArticle

Hasuo, T. ; Ogura, G. ; Sakuma, I. ; Kobayashi, E. ; Iseki, Hiroshi ; Nakamura, R. / Development of bending and grasping manipulator for multi degrees of freedom ultrasonically activated scalpel. In: International journal of computer assisted radiology and surgery. 2006 ; Vol. 1, No. SUPPL. 7. pp. 222-223.
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