| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 1701428 | Procedia CIRP | 2013 | 4 Pages |
The demand for thinner instruments in endoscopic surgery is increasing because smaller incisions produce better clinical results for patients. However, the small size of the end-effectors limits the instrument functionality, and may require surgeons to have special skills, patience, and the ability to work under stress. Therefore, we previously developed a least-incision end-effector (LITE) mechanism, which transforms the instrument into a larger end-effector inside the body, and applied this mechanism to grasping forceps. However, because this transformation takes a long time, inserting and removing the LITE forceps into and from a patient rapidly are difficult. This is a serious problem because different kinds of instruments are used during endoscopic surgery and surgeons have to switch between them rapidly and frequently depending on the surgical status. To solve this problem, in this research, we developed multiple-functionality LITE forceps—called two-way LITE forceps—which can be used as two different-sized graspers through transformation of their end-effector, eliminating the need for switching. We conducted operation experiments to validate the transformation mechanism and the two grasping modes of developed prototype forceps.
