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Snake‐like surgical forceps for robot‐assisted minimally invasive surgery
Author(s) -
Jin Xingze,
Zhao Ji,
Feng Mei,
Hao Liangtian,
Li Qiumeng
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1908
Subject(s) - forceps , surgical instrument , invasive surgery , computer science , robot , surgical robot , port (circuit theory) , kinematics , simulation , bending , surgery , biomedical engineering , medicine , materials science , mechanical engineering , physics , artificial intelligence , engineering , classical mechanics , composite material
Background Surgical instruments greatly impact the performance of robot‐assisted minimally invasive surgery (RMIS) because they operate on tissues. Methods A snake‐like surgical instrument, designed with 4 degrees of freedom (DOFs), is proposed for RMIS. The DOFs are as follows: opening and closing motions of the forceps, rotation of the forceps and bi‐directional bending of the instrument. The performance of the instrument was evaluated using a prototype in vitro . Results All DOFs of the instrument were experimentally evaluated and proven sufficient for RMIS. In vitro testing showed that the operations of the proposed model were powerful and steady. Conclusions The position and posture of the surgical instrument could be adjusted in the body of the patient by its bending and rotational movements. The proposed model could therefore work as a competent assistant in multi‐port RMIS and allow surgeons to perform better.