The currently available laparoscopic instruments are unable to manipulate and grasp the large intra-abdominal organs, such as spleen and kidney, with sufficient stability and safety. This paper describes a novel three-fingered endoscopic instrument, based on parallelogram mechanism, which can fully constrain the large organs and provide an effective grasping function. We first evaluated the efficacy of the design using a 3D model and finite element analysis. Then, a fully functional prototype was fabricated for experimental evaluations, including force propagation and pull force limitation characteristics. Finally, the instrument's capability for effective grasping was investigated on animal specimens in in vitro and in vivo examinations. The results of the force propagation analysis indicated a high amplification ratio of more than 1.2 for the actuating force when grasping large organs. The pull force experiments on a sheep heart specimen revealed a nearly linear relationship between the actuating force and the limit of the pulling force that could be attained without slippage. The resulting pinch force, however, was found to be injurious if the actuating force exceeded a limit of 8.6 N. The in vitro and in vivo examinations of the instrument indicated its capability to pass through a standard 10-mm trocar to enter the abdomen, open its fingers to a diameter of about 80 mm, and grasp and manipulate organs with different sizes, shapes, and properties. With further developments, the proposed design is expected to provide a practical and feasible solution for grasping of large organs during endoscopic operations. However, more preclinical examinations are needed to evaluate the potential risks of using rigid jaws against injury-prone soft organs.
Skip Nav Destination
Article navigation
June 2013
Design Innovations
Design, Analysis, and Experimental Evaluation of a Novel Three-Fingered Endoscopic Large-Organ Grasper
Alireza Mirbagheri,
Alireza Mirbagheri
NEF Postdoctoral Fellow
Robotic Surgery Lab.,
Research Centre of Biomedical Technology and Robotics,
e-mail: mirbagheri@ieee.org
Robotic Surgery Lab.,
Research Centre of Biomedical Technology and Robotics,
Tehran University of Medical Sciences
,Tehran
1419733141, Iran
e-mail: mirbagheri@ieee.org
Search for other works by this author on:
Farzam Farahmand
Farzam Farahmand
1
Professor of Biomechanics
School of Mechanical Engineering,
e-mail: farahmand@sharif.edu
School of Mechanical Engineering,
Sharif University of Technology and Research Centre of Biomedical Technology and Robotics
,Tehran University of Medical Sciences
,Tehran
11155-9567, Iran
e-mail: farahmand@sharif.edu
1Corresponding author.
Search for other works by this author on:
Alireza Mirbagheri
NEF Postdoctoral Fellow
Robotic Surgery Lab.,
Research Centre of Biomedical Technology and Robotics,
e-mail: mirbagheri@ieee.org
Robotic Surgery Lab.,
Research Centre of Biomedical Technology and Robotics,
Tehran University of Medical Sciences
,Tehran
1419733141, Iran
e-mail: mirbagheri@ieee.org
Farzam Farahmand
Professor of Biomechanics
School of Mechanical Engineering,
e-mail: farahmand@sharif.edu
School of Mechanical Engineering,
Sharif University of Technology and Research Centre of Biomedical Technology and Robotics
,Tehran University of Medical Sciences
,Tehran
11155-9567, Iran
e-mail: farahmand@sharif.edu
1Corresponding author.
Manuscript received September 23, 2011; final manuscript received January 2, 2013; published online June 24, 2013. Assoc. Editor: Foster B. Stulen.
J. Med. Devices. Jun 2013, 7(2): 025001 (6 pages)
Published Online: June 24, 2013
Article history
Received:
September 23, 2011
Revision Received:
January 2, 2013
Citation
Mirbagheri, A., and Farahmand, F. (June 24, 2013). "Design, Analysis, and Experimental Evaluation of a Novel Three-Fingered Endoscopic Large-Organ Grasper." ASME. J. Med. Devices. June 2013; 7(2): 025001. https://doi.org/10.1115/1.4023704
Download citation file:
Get Email Alerts
Cited By
Flow Diverter Technology for the Treatment of Intracranial Aneurysms: A Review
J. Med. Devices (June 2025)
Editorial
J. Med. Devices (March 2025)
An MR-Safe Pneumatic Stepper Motor: Design, Control, and Characterization
J. Med. Devices (March 2025)
Related Articles
Articulated Manipulator With Multiple Instruments for Natural Orifice Transluminal Endoscopic Surgery
J. Med. Devices (December,2013)
Feasibility Assessment of Microwave Ablation for Treating Esophageal Varices
J. Med. Devices (September,2017)
On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
J. Mechanisms Robotics (October,2023)
Analysis of Underactuated Mechanical Grippers
J. Mech. Des (September,2001)
Related Proceedings Papers
Related Chapters
Application of Water Pinch Technology for Water Minimization in Titanium Pigment Industry
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Adaptive RBFNN Control for Mosfet Grasping Manipulator
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)
Research and Implementation on Test and Diagnose Program by ATML
International Conference on Information Technology and Computer Science, 3rd (ITCS 2011)