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

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

    Research output: Contribution to journalArticle

    6 Citations (Scopus)


    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
    Issue numberSUPPL. 7
    Publication statusPublished - 2006 Jun



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

    ASJC Scopus subject areas

    • Surgery
    • Biomedical Engineering
    • Radiology Nuclear Medicine and imaging
    • Computer Vision and Pattern Recognition
    • Health Informatics
    • Computer Science Applications
    • Computer Graphics and Computer-Aided Design

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