TY - JOUR
T1 - Design And Evaluation Of A Balanced Compliant Laparoscopic Grasper
AU - Klok, Jan-Willem
AU - Postema, Roelf
AU - Steintorsson, Astor T.
AU - Dankelman, Jenny
AU - Horeman, Tim
N1 - Funding Information: This work was supported by the Zorgonderzoek en Medische Wetenschappen (ZonMw)-Toegepaste en Technische Wetenschappen (TTW) Feasibility grant TTW Dossier under Grant 16969. This work involved human subjects or animals in its research. Approval of all ethical and experimental procedures and protocols was granted by the Delft University of Technology (TU Delft) Human Research Ethics Committee (HREC) under Application No. 2587. Publisher Copyright: © 2013 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Force
KW - Grasping
KW - Haptic interfaces
KW - Instruments
KW - Laparoscopes
KW - Laparoscopic surgery
KW - Magnetic hysteresis
KW - Minimally invasive surgery
KW - compliant mechanisms
KW - grasping
KW - haptic feedback
KW - static balancing
UR - http://www.scopus.com/inward/record.url?scp=85164420166&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/JTEHM.2023.3291925
DO - https://doi.org/10.1109/JTEHM.2023.3291925
M3 - Article
C2 - 37817822
SN - 2168-2372
VL - 11
SP - 451
EP - 459
JO - IEEE Journal of Translational Engineering in Health and Medicine
JF - IEEE Journal of Translational Engineering in Health and Medicine
ER -