| Title: |
Steerable Surgical Instrument for Conventional and Single-Site Minimally Invasive Surgery |
| Authors: |
Hernández-Valderrama, Victor Gabriel; Ordorica-Flores, Ricardo Manuel; Montoya-Alvarez, Salvador; Haro-Mendoza, Daniel; Ochoa-Toledo, Luis; Lorias-Espinoza, Daniel; Ortiz-Simón, José L.; Pérez-Escamirosa, Fernando |
| Contributors: |
UNAM-DGAPA-PAPIIT program |
| Source: |
Surgical Innovation ; volume 29, issue 3, page 449-458 ; ISSN 1553-3506 1553-3514 |
| Publisher Information: |
SAGE Publications |
| Publication Year: |
2021 |
| Description: |
Background. This article aims to present an innovative design of a steerable surgical instrument for conventional and single-site minimally invasive surgery (MIS), which improves the dexterity and maneuverability of the surgeon while offering a solution to the limitations of current tools. Methods. The steerable MIS instrument consists of a deflection structure with a curved sliding joints design that articulates the distal tip in two additional degrees of freedom (DoFs), relative to the instrument shaft, using transmission by cables. A passive ball-joint mechanism articulates the handle relative to the instrument shaft, improves wrist posture, and prevents collision of instrument handles during single-site MIS procedures. The two additional DoFs of the articulating tip are activated by a thumb-controlled device, using a joystick design mounted on the handle. This steerable MIS instrument was developed by additive manufacturing in a 3D printer using PLA polymer. Results. Prototype testing showed a maximum tip deflection of 60° in the left and right directions, with a total deflection of 120°. With the passive ball-joint fully offset, the steerable tip achieved a deflection of 90° for the right and 40° for the left direction, with a total deflection of 130°. Furthermore, the passive ball-joint mechanism in the handle obtained a maximum range of motion of 60°. Conclusions. This steerable MIS instrument concept offers an alternative to enhance the application fields of conventional and single-site MIS, increasing manual dexterity of the surgeon and the ability to reach narrow anatomies from other directions. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| DOI: |
10.1177/15533506211037091 |
| Availability: |
https://doi.org/10.1177/15533506211037091; https://journals.sagepub.com/doi/pdf/10.1177/15533506211037091; https://journals.sagepub.com/doi/full-xml/10.1177/15533506211037091 |
| Rights: |
https://journals.sagepub.com/page/policies/text-and-data-mining-license |
| Accession Number: |
edsbas.D38573FF |
| Database: |
BASE |