User-Centered Design Enhancements for Minimally Invasive Stapler-Cutter Instruments

This paper presents design advancements for minimally invasive surgical stapler-cutters. Considering existing constraints including range of articulation, a cable-pulley transmission design is pursued. Kinematic relationships to optimize toward constant cable path length are presented. A more ergonomic handle layout is proposed to improve force transmission and comfort for the surgeon. Prototyping results demonstrate achievement of design goals related to range of motion and instrument size.