Least-Incision Transformable End-Effector Mechanism for Forceps for Endoscopic Surgery

摘要

The demand for thinner instruments for endoscopic surgery has been increasing because thinner instruments minimize invasiveness and increase the applicability of endoscopy. However, in thinner instruments, the end effectors are smaller, which limits instrument functionality. We have developed a new pair of forceps using a least-incision transformable end-effector (LITE) mechanism that transforms its end effectors by increasing its size within the body cavity. In our experiments, the grasping force was measured to be greater than 5.3 N. Five non-specialists and three surgeons performed endoscopy to evaluate the end effector's transformation and removal times. The average transformation and removal times were 108 ± 37 s and 65 ± 23 s and 86 ± 37 s and 61 ± 27 s, respectively, for the non-specialists and surgeons, respectively. An in vivo experiment was also conducted on a pig using the LITE forceps. Our mechanism is extremely useful for performing least-invasive endoscopy surgeries.