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 , while being small enough to fit within a 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 at the tips and supply a puncturing force of . The force supplied at the tip was measured and was found to exceed the required . 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.
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June 2008
Design Innovations
Design of a Compliant Endoscopic Suturing Instrument
James A. Cronin, IV,
James A. Cronin, IV
Department of Mechanical and Nuclear Engineering,
Pennsylvania State University
, 326 Leonhard Building, University Park, PA 16802
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Mary I. Frecker,
Mary I. Frecker
Department of Mechanical and Nuclear Engineering,
Pennsylvania State University
, 326 Leonhard Building, University Park, PA 16802
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Abraham Mathew
Abraham Mathew
Department of Medicine,
Penn State Milton S. Hershey Medical Center
, Department of Gastroenterology, Hershey, PA 17033
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James A. Cronin, IV
Department of Mechanical and Nuclear Engineering,
Pennsylvania State University
, 326 Leonhard Building, University Park, PA 16802
Mary I. Frecker
Department of Mechanical and Nuclear Engineering,
Pennsylvania State University
, 326 Leonhard Building, University Park, PA 16802
Abraham Mathew
Department of Medicine,
Penn State Milton S. Hershey Medical Center
, Department of Gastroenterology, Hershey, PA 17033J. Med. Devices. Jun 2008, 2(2): 025002 (9 pages)
Published Online: May 30, 2008
Article history
Received:
December 14, 2007
Revised:
March 28, 2008
Published:
May 30, 2008
Citation
Cronin, J. A., IV, Frecker, M. I., and Mathew, A. (May 30, 2008). "Design of a Compliant Endoscopic Suturing Instrument." ASME. J. Med. Devices. June 2008; 2(2): 025002. https://doi.org/10.1115/1.2931551
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