This paper reports the design, development, and initial evaluation of a robotic laparoscopic clipping tool for single manipulator wound closure and anastomosis (tubular reconnection). The tool deploys biodegradable clips and clasps with the goal of (i) integrating grasping and suturing into a single device for single hand or manipulator use, (ii) applying the equivalent of interrupted sutures without the need of managing suture thread, and (iii) allowing for full six degrees-of-freedom (DOFs) laparoscopic control when mounted on a robot arm. The specifications, workflow, and detailed design of the robotic laparoscopic tool and injection molded bio-absorbable T shaped clip and locking clasp are reported. The clipping tool integrates forceps to grab and stabilize tissue and a clip and clasp applier to approximate and fixate the tissue. A curved needle is advanced on a circular needle path and picks up and drags clips through tissue. The clip is then tightened through the tissue and a clasp is clamped around the clip, before the clip is released from the needle. Results of several bench test runs of the tool show: (a) repeatable circular needle drive, (b) successful pick-up and deployment of clips, (c) successful shear of the clip to release the clip from the needle, and (d) closure of clasp on clip with an average of 2.0 N holding force. These data indicate that the robotic laparoscopic clipping tool could be used for laparoscopic wound closure and anastomosis.
Skip Nav Destination
Article navigation
March 2018
Research-Article
Development and Feasibility of a Robotic Laparoscopic Clipping Tool for Wound Closure and Anastomosis
Axel Krieger,
Axel Krieger
Mem. ASME
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue,
NW, Washington, DC 20010;
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue,
NW, Washington, DC 20010;
Department of Mechanical Engineering,
University of Maryland,
2181 Glenn L. Martin Hall, Building 088,
College Park, MD 20742
e-mail: axel@umd.edu
University of Maryland,
2181 Glenn L. Martin Hall, Building 088,
College Park, MD 20742
e-mail: axel@umd.edu
Search for other works by this author on:
Justin Opfermann,
Justin Opfermann
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: jopferma@childrensnational.org
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: jopferma@childrensnational.org
Search for other works by this author on:
Peter C. W. Kim
Peter C. W. Kim
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: pkim@childrensnational.org
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: pkim@childrensnational.org
Search for other works by this author on:
Axel Krieger
Mem. ASME
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue,
NW, Washington, DC 20010;
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue,
NW, Washington, DC 20010;
Department of Mechanical Engineering,
University of Maryland,
2181 Glenn L. Martin Hall, Building 088,
College Park, MD 20742
e-mail: axel@umd.edu
University of Maryland,
2181 Glenn L. Martin Hall, Building 088,
College Park, MD 20742
e-mail: axel@umd.edu
Justin Opfermann
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: jopferma@childrensnational.org
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: jopferma@childrensnational.org
Peter C. W. Kim
Sheikh Zayed Institute for Pediatric
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: pkim@childrensnational.org
Surgical Innovation,
Children's National Health System,
111 Michigan Avenue, NW,
Washington, DC 20010
e-mail: pkim@childrensnational.org
Manuscript received May 12, 2017; final manuscript received October 17, 2017; published online November 22, 2017. Assoc. Editor: Venketesh Dubey.
J. Med. Devices. Mar 2018, 12(1): 011005 (6 pages)
Published Online: November 22, 2017
Article history
Received:
May 12, 2017
Revised:
October 17, 2017
Citation
Krieger, A., Opfermann, J., and Kim, P. C. W. (November 22, 2017). "Development and Feasibility of a Robotic Laparoscopic Clipping Tool for Wound Closure and Anastomosis." ASME. J. Med. Devices. March 2018; 12(1): 011005. https://doi.org/10.1115/1.4038335
Download citation file:
Get Email Alerts
Cited By
Validation of a Repurposed pH Monitoring Capsule for Cecal Applications Using Novel Synthetic Cecal Contents
J. Med. Devices (March 2025)
Related Articles
Hydraulic Robotic Surgical Tool Changing Manipulator
J. Med. Devices (March,2017)
Attention-Aware Robotic Laparoscope Based on Fuzzy Interpretation of Eye-Gaze Patterns
J. Med. Devices (December,2015)
Data Communication Pathway for Sensing Guidewire at Proximal Side: A Review
J. Med. Devices (June,2017)
Determination of Surgical Robot Tool Force Requirements Through Tissue Manipulation and Suture Force Measurement
J. Med. Devices (June,2011)
Related Proceedings Papers
Related Chapters
The Research of Spreadsheet Based on Fine-Grained Access Control
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution