Development of a Miniature 2-DOFs Bending Manipulator with Bipolar Coagulator

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  • YAMASHITA Hiromasa
    Graduate School of Information Science and Technology, The University of Tokyo
  • MATSUMIYA Kiyoshi
    Graduate School of Information Science and Technology, The University of Tokyo
  • MASAMUNE Ken
    Graduate School of Information Science and Technology, The University of Tokyo
  • KOBAYASHI Etsuko
    Graduate School of Engineering, The University of Tokyo
  • SAKUMA Ichiro
    Graduate School of Engineering, The University of Tokyo
  • LIAO Hongen
    Graduate School of Engineering, The University of Tokyo
  • HASHIZUME Makoto
    Graduate School of Medical Sciences, Kyushu University
  • DOHI Takeyoshi
    Graduate School of Information Science and Technology, The University of Tokyo

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  • バイポーラコアギュレータを有する細径2自由度屈曲マニピュレータの開発
  • バイポーラ コアギュレータ オ ユウスル サイケイ 2 ジユウド クッキョク マニピュレータ ノ カイハツ

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Abstract

We developed a miniature 2-DOFs bending manipulator of 5-mm diameter for laparoscopic surgery. Bending directions of the mechanism are perpendicular and the mechanisms are controllable respectively. A new wire-connected linkage-driven bending mechanism is built in the manipulator to drive rotate joints for 2-DOFs motion. This manipulator has a central channel of 1.3-mm diameter to drive a pair of blades with electrodes as the tip-side bipolar-coagulator. Surgeons control the manipulator with a grip-type interface in one hand. In mechanical performance evaluations, bending angle was maximum 153.9degrees (from -71.6 to 82.3 degrees) with positioning reproducibility of maximum 0.7mm. About generated force, holding force of bending mechanism was more than 1.82N, and grasping force by a pair of blades as maximum 3.70N. In vivo experiment using a pig (38kg, male) with laparoscopy, we evaluated whether the manipulator performed as a suitable bipolar coagulator for practical clinical use. We were able to coagulate living tissues and occlude blood vessels on the mesenterium completely. In conclusion, our new bending mechanism is useful for miniaturization of the laparoscopic manipulator with the simple structure and high mechanical performance.

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