Laparoscopic surgery requires complex manipulation and movement of internal organs. Current laparoscopic devices succeed in offering surgeons remote access to internal organs but lack the grasping degrees of freedom achieved by the human hand. Specifically, needle nose end effectors engage organs via pinching and can cause tissue perforation. To enhance surgical capacity, a three fingered laparoscopic device was designed, fabricated, and tested. Flexures are used to provide three points of articulation in each finger, while minimizing part count. Flexure joints are modeled as pseudorigid bodies and designed for manufacture with medical grade plastics. Articulation is achieved by tendonlike control cables. To integrate with current laparoscopic procedures, the device fits through a 12 mm trocar port. Furthermore, a handle was designed for this device to offer better control. Testing the device with organlike objects revealed an increased ability to grasp, move, and otherwise engage items.
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Design and Testing of a Three Fingered Flexural Laparoscopic Grasper
Harry O’Hanley,
Harry O’Hanley
Massachusetts Institute of Technology
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Matt Rosario,
Matt Rosario
Massachusetts Institute of Technology
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Yuanyu Chen,
Yuanyu Chen
Massachusetts Institute of Technology
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Audrey Maertens,
Audrey Maertens
Massachusetts Institute of Technology
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John Walton,
John Walton
Massachusetts Institute of Technology
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Jennifer Rosen
Jennifer Rosen
Boston Medical Center
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Harry O’Hanley
Massachusetts Institute of Technology
Matt Rosario
Massachusetts Institute of Technology
Yuanyu Chen
Massachusetts Institute of Technology
Audrey Maertens
Massachusetts Institute of Technology
John Walton
Massachusetts Institute of Technology
Jennifer Rosen
Boston Medical Center
J. Med. Devices. Jun 2011, 5(2): 027508 (1 pages)
Published Online: June 9, 2011
Article history
Online:
June 9, 2011
Published:
June 9, 2011
Citation
O’Hanley, H., Rosario, M., Chen, Y., Maertens, A., Walton, J., and Rosen, J. (June 9, 2011). "Design and Testing of a Three Fingered Flexural Laparoscopic Grasper." ASME. J. Med. Devices. June 2011; 5(2): 027508. https://doi.org/10.1115/1.3589289
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