A functional analysis of current laparoscopic surgical technology prompted a redesign of the tools in order to provide multiple functionalities within a single tool. With this redesign came the need for a number of novel mechanisms to actuate and deploy functional tips to the surgical site from their storage locations. In this study we have adopted a multifaceted approach to biomedical device design: functional decomposition to determine problems with the current minimally invasive surgery paradigm, axiomatic design to ensure an efficient design, and quality function deployment to mathematically determine important design criteria. These methods were applied to the design of several novel mechanisms for achieving multifunctionality in a modular surgical instrument. The new actuation mechanism transfers squeezing motion from the hand through a gear train to the distal end of the tool where a pin-slot mechanism actuates the tool tip. The most pronounced change from current technology is the method for rotating the tool’s shaft: rather than a rotary∕rotary interaction using the index finger, a more ergonomic slider mechanism translates linear thumb motion into rotation of the tool’s shaft through a gear train. Finally, rather than locking or unlocking the jaws of the tool using multiple trigger∕ratchet interaction, the new tool uses a binary ratcheting mechanism (similar to a retractable ballpoint pen) to lock or unlock the tool with only one motion. In addition to the actuation mechanisms, the methods for indexing functional tips within the tool and interfacing the tips with a lead screw were redesigned for a modular tool. Rotary indexing of the tool cartridge is done using a Geneva-type mechanism and cam∕follower to provide positive locking once the tip is in place. Transferring the tool tip from the rotary chamber to contact the actuation∕shuttling screw is accomplished using a screw∕wedge assembly to ensure proper attachment. Each of these mechanisms is described and analyzed in detail to show the overall improvement in surgical performance of this novel tool. The benefits identified include multiple functionalities in a single tool, ergonomic benefits of an increased input∕output force scaling, decreased out-of-plane motion required to rotate the tool’s shaft, and decreased cognitive load required to lock and unlock the tool’s jaws.
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e-mail: cnelson5@unl.edu
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September 2008
Research Papers
Novel Mechanical Actuation of a Modular Laparoscopic Surgical Tool
David J. Miller,
David J. Miller
Department of Mechanical Engineering,
University of Nebraska-Lincoln
, N104 Walter Scott Engineering Center, P.O. Box 880656, Lincoln, NE 68588-0656
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Carl A. Nelson
Carl A. Nelson
Department of Mechanical Engineering,
e-mail: cnelson5@unl.edu
University of Nebraska-Lincoln
, N106 Walter Scott Engineering Center, P.O. Box 880656, Lincoln, NE 68588-0656; Department of Surgery, Center for Advanced Surgical Technology (CAST), University of Nebraska Medical Center
, 984075 Nebraska Medical Center, Omaha, NE 68198-4075
Search for other works by this author on:
David J. Miller
Department of Mechanical Engineering,
University of Nebraska-Lincoln
, N104 Walter Scott Engineering Center, P.O. Box 880656, Lincoln, NE 68588-0656
Carl A. Nelson
Department of Mechanical Engineering,
University of Nebraska-Lincoln
, N106 Walter Scott Engineering Center, P.O. Box 880656, Lincoln, NE 68588-0656; Department of Surgery, Center for Advanced Surgical Technology (CAST), University of Nebraska Medical Center
, 984075 Nebraska Medical Center, Omaha, NE 68198-4075e-mail: cnelson5@unl.edu
J. Med. Devices. Sep 2008, 2(3): 031002 (8 pages)
Published Online: July 17, 2008
Article history
Received:
October 17, 2007
Revised:
June 11, 2008
Published:
July 17, 2008
Citation
Miller, D. J., and Nelson, C. A. (July 17, 2008). "Novel Mechanical Actuation of a Modular Laparoscopic Surgical Tool." ASME. J. Med. Devices. September 2008; 2(3): 031002. https://doi.org/10.1115/1.2955974
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