Design and Evaluation of a Balanced Compliant Laparoscopic Grasper.
| Autor: | Klok JW; Department of Biomechanical EngineeringDelft University of Technology 2628 CD Delft The Netherlands., Postema R; Spijkenisse Medisch Centrum 3201 GZ Spijkenisse The Netherlands., Steinporsson AT; Reon 105 Reykjavik Iceland., Dankelman J; Department of Biomechanical EngineeringDelft University of Technology 2628 CD Delft The Netherlands., Horeman T; Department of Biomechanical EngineeringDelft University of Technology 2628 CD Delft The Netherlands. |
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| Jazyk: | angličtina |
| Zdroj: | IEEE journal of translational engineering in health and medicine [IEEE J Transl Eng Health Med] 2023 Jul 03; Vol. 11, pp. 451-459. Date of Electronic Publication: 2023 Jul 03 (Print Publication: 2023). |
| DOI: | 10.1109/JTEHM.2023.3291925 |
| Abstrakt: | In laparoscopic surgery, quality of haptic feedback is reduced compared to conventional surgery, leading to unintentional tissue damage during grasping. From the perspective of haptics, poor mechanical design of laparoscopic instrument joints induces friction and a nonlinear actuation-tip force relation. In this study, a novel laparoscopic grasper using compliant joints and a magnetic balancer is presented, and the reduction in hysteresis and friction is evaluated. The hysteresis loop of the novel compliant grasper and two conventional laparoscopic graspers (high quality leading commercial brand and low quality unbranded grasper) were measured. In order to assess quality of haptic feedback, the lowest grasper tip load perceivable by instrument users was measured with the novel and the conventional laparoscopic graspers. The hysteresis loop measurement yielded a mechanical efficiency of 43% for the novel grasper, compared to- 25% and 23% for the Aesculap and the unbranded grasper, respectively. The forces perceivable by the user through the novel grasper were significantly lower (mean 1.37N, SD 0.44N) than those of conventional graspers (mean 2.15N, SD 0.71N and mean 2.65N, SD 1.20N, respectively). The balanced compliant grasper technology has the ability to improve the quality of haptic feedback compared to conventional laparoscopic graspers. Research is needed to relate these results to soft and delicate tissue grasping in a clinical setting, for which this instrument is intended. (© 2023 The Authors.) |
| Databáze: | MEDLINE |
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