TY - GEN
T1 - Feasibility analysis of bipolar electric scalpel forceps manipulator with 2-DOFs bending mechanisms
AU - Yamashita, Hiromasa
AU - Matsumiya, K.
AU - Masamune, K.
AU - Kobayashi, E.
AU - Sakuma, I.
AU - Liao, H.
AU - Hashizume, M.
AU - Dohi, T.
PY - 2007
Y1 - 2007
N2 - This paper proposes multi-functionalization of the previously reported laparoscopic forceps manipulator with multi-slider linkage mechanism which enables 2-DOFs horizontal and vertical bending of ±90 degrees and 1-DOF grasping manipulation. Specifically we added a bipolar electric scalpel function on the forceps blades for more safe, speedy and efficient surgical operation with coagulation of tissues and occlusion of blood vessels from various directions in abdominal cavity. This functionalization can lead cutting down the number of surgical instruments and insert ports, and saving troubles of changing tools. For the scalpel function, we mounted a pair of electrodes measuring 1.0 × 5.0 × 0.1 mm × 2 lines aligned with a 0.5-mm space, to generate high current density between two forceps blades. In animal experiment using swine (39 kg, male), we evaluated the ability of occluding blood vessels on mesenteric surface tissues through various directional approach paths using 2-DOFs bending manipulation effectively. We coagulated blood vessels 2-3 times with setting of 20 W and 2-3 seconds energization. And in order to confirm whether the blood vessels were completely occluded or not, we attempted a cut of ablated parts with scissors and checked blood leak. In this experiment we tried to occlude 6 vessels. Four vessels were occluded successfully, while other two vessel occlusions were incomplete. A little leak was shown in these vessels, however, some repeated coagulation made complete seals. These incomplete coagulations resulted from ablated tissues on the electrodes surface for something of a shield to interrupt effective energization. For the solution of this trouble, it can be effective to improve the electrode and forceps blade shapes. In conclusion, we are sure of feasibility of the bipolar electrode scalpel function with multi-DOFs bending manipulator to ablate tissues and seal blood vessels for laparoscopic clinical applications.
AB - This paper proposes multi-functionalization of the previously reported laparoscopic forceps manipulator with multi-slider linkage mechanism which enables 2-DOFs horizontal and vertical bending of ±90 degrees and 1-DOF grasping manipulation. Specifically we added a bipolar electric scalpel function on the forceps blades for more safe, speedy and efficient surgical operation with coagulation of tissues and occlusion of blood vessels from various directions in abdominal cavity. This functionalization can lead cutting down the number of surgical instruments and insert ports, and saving troubles of changing tools. For the scalpel function, we mounted a pair of electrodes measuring 1.0 × 5.0 × 0.1 mm × 2 lines aligned with a 0.5-mm space, to generate high current density between two forceps blades. In animal experiment using swine (39 kg, male), we evaluated the ability of occluding blood vessels on mesenteric surface tissues through various directional approach paths using 2-DOFs bending manipulation effectively. We coagulated blood vessels 2-3 times with setting of 20 W and 2-3 seconds energization. And in order to confirm whether the blood vessels were completely occluded or not, we attempted a cut of ablated parts with scissors and checked blood leak. In this experiment we tried to occlude 6 vessels. Four vessels were occluded successfully, while other two vessel occlusions were incomplete. A little leak was shown in these vessels, however, some repeated coagulation made complete seals. These incomplete coagulations resulted from ablated tissues on the electrodes surface for something of a shield to interrupt effective energization. For the solution of this trouble, it can be effective to improve the electrode and forceps blade shapes. In conclusion, we are sure of feasibility of the bipolar electrode scalpel function with multi-DOFs bending manipulator to ablate tissues and seal blood vessels for laparoscopic clinical applications.
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U2 - 10.1007/978-3-540-36841-0_784
DO - 10.1007/978-3-540-36841-0_784
M3 - Conference contribution
AN - SCOPUS:84958260054
SN - 9783540368397
T3 - IFMBE Proceedings
SP - 3104
EP - 3107
BT - IFMBE Proceedings
A2 - Kim, Sun I.
A2 - Suh, Tae Suk
PB - Springer Verlag
T2 - 10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
Y2 - 27 August 2006 through 1 September 2006
ER -