Design and Analysis of a Magnetic Anchored and Cable-Driven Surgical Forceps for Minimally Invasive Surgery
Year: 2025
Type: article
Abstract: Magnetic surgical instruments are primarily driven by magnetic force and/or micro-motors. When micro-motors are used to drive motion, they are typically installed near the manipulator joints, resulting in a larger manipulator size due to the presence of micro-motors. We designed a magnetic anchored and cable-driven surgical forceps, which separates micro-motors from the manipulator through cables. The cables are responsible for transmitting motion and force from micro-motors to the manipulator. This design enables the integration of relatively large motors (diameter: 8 mm) while maintaining a compact overall diameter of the manipulator (diameter: 10 mm). This is beneficial for improving the flexibility of the manipulator and facilitating the coordination between surgical instruments. The manipulator of the magnetic anchored and cable-driven surgical forceps has three degrees of freedom (DoFs): pitch, yaw and clamping. A magnetic attraction experiment was conducted to measure the magnetic force on the magnetic surgical forceps with the variation of abdominal skin thickness. The results indicate that at a distance of 20 mm, the magnetic force exerted on the magnetic surgical forceps is 5.86 N, with a maximum vertical load capacity of 5.13 N. Additionally, an ex vivo experiment was conducted to validate the practicality of the magnetic anchored and cable-driven surgical forceps prototype.
Source: Micromachines
DOI: 10.3390/mi16101109
Authors: Jingwu Li, Yingtian Li, Zhongqing Sun, Zhongqing Sun, Zhijun Sun, Zhijun Sun
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,534
Awards: G7188224825, G8743415561
OpenAlex ID: W4414612597