This paper describes the initial design and optimization of a compliant endoscopic suturing instrument. The emerging field of Natural Orifice Transluminal Endoscopic Surgery (NOTES) requires innovative instruments to meet the size limitations inherent in this type of minimally invasive surgery; using compliant mechanisms is proposed as one method of meeting this requirement. The compliant design was modeled and optimized to maximize the distal opening and provide a puncture force of at least 4.6N⁠, while being small enough to fit within a 3.3mm working channel. The design utilizes contact for stress relief and intertwining parts for added deflection. ANSYS® was used for finite element analysis including contact and nonlinear deformations. A prototype was fabricated from the optimized geometry and experimentally tested. The best geometry is predicted to have a distal opening of 14.6mm at the tips and supply a puncturing force of 4.83N⁠. The force supplied at the tip was measured and was found to exceed the required 4.6N⁠. The prototype successfully passed two complete sutures and qualitative results are provided. The results of the study will lead to further refinements and improvements in future designs.

Issue Section:
Design Innovation
Keywords:
compliant mechanism, NOTES, surgical instrument design, deformation, endoscopes, finite element analysis, force measurement, surgery
Topics:
Design, Endoscopic devices, Instrumentation, Optimization, Needles, Surgery, Endoscopes, Finite element analysis, Compliant mechanisms, Deformation
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