Design of a Multifunctional Forceps for use in Endoscopic Surgery
Open Access
- Author:
- Rau, Andrew Charles
- Graduate Program:
- Mechanical Engineering
- Degree:
- Master of Science
- Document Type:
- Master Thesis
- Date of Defense:
- None
- Committee Members:
- Mary I Frecker, Thesis Advisor/Co-Advisor
Mary I Frecker, Thesis Advisor/Co-Advisor - Keywords:
- endoscopic surgery
endoscopic tools
NOTES
natural orifice transluminal endoscopic surgery
minimally invasive surgery
forceps
medical devices surgical tools - Abstract:
- Minimally invasive surgery (MIS) has gained tremendous popularity among medical practitioners in a variety of disciplines. The introduction and development of laparoscopy in the late 20$^{th}$ century proved that MIS could be implemented safely and effectively. Laparoscopy provided both an effective alternative to traditional open surgery as well as benefits including reductions in patient recovery time, pain, probability of infection, and cosmetic scaring. In a similar fashion, a developing endoscopic MIS technique called Natural Orifice Transluminal Endoscopic Surgery (NOTES) has the potential to provide surgical alternatives which completely eliminate the need for external incisions, resulting in obvious patient care benefits. Performance of the endoscopic tools used during endoscopic and NOTES procedures is extremely limited by strict size constraints, thereby significantly impeding the development of experimental MIS procedures. The focus of this work is the design, analysis, and testing of a multifunctional 3.0 mm diameter endoscopic forceps for use in MIS. Models of the proposed design predict considerable improvements in opening range and force application for both grasping and spreading when compared to currently used endoscopic forceps. Electrocautery ability is also provided to increase tool utility; studies are conducted to evaluate cautery performance relative to commercial products. In addition to possessing multifunctional grasping, spreading, and cautery abilities, the tool's design promotes fail-safe malfunctions, including locking prior to failure and a decreased likelihood of part fracture. In order to increase tool utility, a means of providing articulation ability to the tool is investigated. Increased instrument dexterity is desirable for manipulation of tissue in remote regions, but size constraints prevent practical implementation of dextrous endoscopic tools. A practical means of classifying dextrous manipulators is presented and used to evaluate the potential for scalability to the meso level (1-5 mm diameter). A compliant design which provides articulation ability at the meso scale is introduced and evaluated based on practical efficacy. Results of this evaluation indicate that the concept possesses potential for articulation ability. Experimental endoscopic procedures often necessitate unique tool performance requirements which currently available tools do not meet. Scaling current tool concepts to the meso level often results in significant performance losses, thereby hindering the development of novel medical procedures. The work detailed in this thesis aims to provide increased surgical capabilities to surgeons during endoscopic procedures.