This paper introduces the benefits of exploiting elasticity in the engineering design of surgical tools, in general, and of minimally invasive procedures, in particular. Compliant mechanisms are jointless mechanisms that rely on elastic deformation to transmit forces and motion. The lack of traditional joints in these single-piece flexible structures offers many benefits, including the absence of wear debris, pinch points, crevices, and lubrication. Such systems are particularly amenable to embedded sensing for haptic feedback and embedded actuation with active-material actuators. The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications. Compliant systems have potential to integrate well within the constraints of laparoscopic procedures and telerobotic surgery. A load-path representation is used within a genetic algorithm to solve two gripper example problems. In addition, the paper illustrates the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.
Issue Section:
Technical Briefs
Topics:
Compliant mechanisms,
Design,
Grippers,
Kidney,
Stress,
Topology,
Surgery,
Manipulators,
Optimization,
Surgical tools
1.
Chicago Institute of Neurosurgery and Neuroresearch
, 2002, “Minimally Invasive Surgery
,” http://www.cinn.org/isc/mis.htmlhttp://www.cinn.org/isc/mis.html2.
Heim
, S.
, M.D., F.A.C.S, 2002, “An Introduction to Minimally Invasive Surgery, What is it and Why is it Needed?
,” www.spineuniverse.comwww.spineuniverse.com3.
Peters
, J.
, Heimbucher
, J.
, Kauer
, W.
, Incarbone
, R.
, Bremner
, C.
, and DeMeester
, T.
, 1995, “Clinical and Physiologic Comparison of Laparoscopic and Open Nissen Fundoplication
,” J. Am. Coll. Surg.
1072-7515, 180
(4
), pp. 385
–93
.4.
Menon
, M.
, Tewari
, A.
, Baize
, B.
, Guillonneau
, B.
, and Vallancien
, G.
, 2002, “Prospective Comparison of Radical Retropubic Prostatectomy and Robot-Assisted Anatomic Prostatectomy: The Vattikuti Urology Institute Experience
,” Urology
0090-4295, 60
(5
), pp. 864
–868
.5.
The Clinical Outcomes of Surgical Therapy Study Group
, 2004, “A Comparison of Laparoscopically Assisted and Open Colectomy for Colon Cancer
,” N. Engl. J. Med.
0028-4793, 350
(20
), pp. 2050
–2059
.6.
Whelan
, R.
, Franklin
, M.
, Holubar
, S.
, Donahue
, J.
, Fowler
, R.
, Munger
, C.
, Doorman
, J.
, Balli
, J.
, Glass
, J.
, Gonzalez
, J.
, Bessler
, M.
, Xie
, H.
, and Treat
, M.
, 2003, “Postoperative Cell Mediated Immune Response Is Better Preserved After Laparoscopic Versus Open Colorectal Resection in Humans
,” Surg. Endosc
0930-2794, 17
(6
), pp. 972
–978
.7.
Talamini
, M. A.
and Hanly
, E. J.
, 2005, “Technology in the Operating Suite
,” J. Am. Med. Assoc.
, 293
(7
), pp. 863
–866
.8.
Intuitive Surgical
, “daVinci Surgical System
,” http://www.intuitivesurgical.com/products/da_vinci.htmlhttp://www.intuitivesurgical.com/products/da_vinci.html9.
Bodner
, J.
, Wykypiel
, H.
, Wetscher
, G.
, and Schmid
, T.
, 2004, “First Experiences With the da Vinci(TM) Operating Robot in Thoracic Surgery
,” Eur. J. Cardiothorac Surg.
1010-7940, 25
(5
), pp. 844
–851
.10.
Tatooles
, A. J.
, Pappas
, P. S.
, Gordon
, P. J.
, and Slaughter
, M. S.
, 2004, “Minimally Invasive Mitral Valve Repair Using the da Vinci Robotic System
,” Ann. Thorac. Surg.
0003-4975, 77
(6
), pp. 1978
–1984
.11.
Ananthasuresh
, G. K.
, Kota
, S.
, and Kikuchi
, K.
, 1994, “Strategies for Systematic Synthesis of Compliant MEMS
,” 1994 Int. Mechanical Engineering Congress and Exposition
, ASME
, Chicago, IL, 55
, pp. 677
–686
.12.
Frecker
, M. I.
, Ananthasuresh
, G. K.
, Nishiwaki
, S.
, Kikuchi
, N.
, and Kota
, S.
, 1997, “Topological Synthesis of Compliant Mechanisms Using Multi-Criteria Optimization
,” J. Mech. Des.
1050-0472, 119
(2
), pp. 238
–245
.13.
Hetrick
, J.
, and Kota
, S.
, 1999, “An Energy Formulation for Parametric Size and Shape Optimization of Compliant Mechanisms
,” J. Mech. Des.
1050-0472, 121
, pp. 229
–234
.14.
Joo
, J.
, Kota
, S.
, and Kikuchi
, N.
, 2000, “Topological Synthesis of Compliant Mechanisms Using Linear Beam Elements
,” Mech. Based Des. Struct. Mach.
1539-7734, 28
(4
), pp. 245
–280
.15.
Canfield
, S.
, Edinger
, B.
, Frecker
, M.
, and Koopmann
, G.
, 1999, “Design of Piezoelectric Inchworm Actuator and Compliant End-Effector for Minimally Invasive Surgery
,” SPIE Conf. on Smart Structures and Integrated Systems, Newport Beach, CA, Proc. SPIE
0277-786X 3668
, pp. 835
–843
.16.
Cappelleri
, D. J.
, Frecker
, M. I.
, and Simpson
, T. W.
, 2002, “Design of a PZT Bimorph Actuator Using a Metamodel-Based Approach
,” ASME J. Mech. Des.
1050-0472, 124
, pp. 354
–357
.17.
Frecker
, M. I.
, and Aguilera
, W. M.
, 2004, “Analytical Modeling of a Segmented Unimorph Actuator Using Electrostrictive P(VDF-TrFE) Copolymer
,” Smart Mater. Struct.
0964-1726, 13
, pp. 82
–91
.18.
Lu
, K.-J.
, 2004, Synthesis of Shape Morphing Compliant Mechanisms
, Ph.D. Dissertation, Mechanical Engineering
, University of Michigan
, Ann Arbor.19.
Lu
, K. J.
, and Kota
, S.
, 2005, “An Effective Method of Synthesizing Compliant Adaptive Structure Using Load Path Representation
,” J. Intell. Mater. Syst. Struct.
1045-389X, 16
, pp. 307
–317
.20.
Lu
, K. J.
, and Kota
, S.
, 2003, “Parameterization Strategy for Optimization of Shape Morphing Compliant Mechanisms Using Load Path Representation
,”ASME 2003 Design Engineering Technical Conf
., Chicago, ASME Paper No. DAC-48775.21.
Holland
, J. H.
, 1975, Adaptation in Natural and Artificial Systems
, The University of Michigan Press
, Ann Arbor.22.
Goldberg
, D.
, 1989, Genetic Algorithms in Search, Optimization, and Machine Learning
, Addison-Wesley
, Boston.23.
Wehle
, M.
, M.D., 2004, “Laparoscopic Kidney Removal has Many Benefits: Hand-Assisted Procedure as Effective as Standard Surgery
,” Mayo Clinic Checkup Newsletter
, 11
(2
), p. 7
.24.
Peshkin
, M. A.
, 2004, Force Sensors, U.S. Patent Number 20040261544.Copyright © 2005
by American Society of Mechanical Engineers
You do not currently have access to this content.
