The Design of a Flexible Friction-Based Tissue Transporting Device for Minimally Invasive Surgery
M.S.R. van Zelm (TU Delft - Mechanical Engineering)
A. Sakes – Mentor (TU Delft - Medical Instruments & Bio-Inspired Technology)
V.G. Kortman – Mentor (TU Delft - Medical Instruments & Bio-Inspired Technology)
Roos Oosting – Graduation committee member (TU Delft - Medical Instruments & Bio-Inspired Technology)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
The removal of tissues from the human body is a fundamental aspect of surgical interventions, especially in Minimally Invasive Surgery (MIS). In MIS, one or multiple small incisions (approximately 3 to 10 mm) are made, and the body is accessed by long slender devices. MIS offers benefits such as less postoperative pain, and shorter hospital stays, driving a trend toward miniaturisation: smaller medical instruments. Current suction-based instruments are limited in performance by clogging, shaft miniaturisation challenges, and dependency on tissue composition. To address these limitations, alternative mechanisms for transportation have arisen such as friction-based transportation. This study presents the design and experimental validation of a flexible friction-based tissue transporting device for MIS. The device is designed to achieve transportation efficiency independent of tissue elasticity within a Young's modulus range of 1-110 kPa, utilising a cylindrical conveyor mechanism with wires to transport tissue. Experimental validation demonstrated consistent transportation efficiency (75%) across various tissue types, shapes, and orientations, though shaft curvature significantly affected performance and total reliability (81%). The device addresses some of the limitations of suction-based instruments, including reduced clogging, enhanced potential for miniaturisation, and transportation efficiency independent of tissue elasticity. While further improvements to the device design are necessary, it has the potential to improve MIS tissue removal procedures and patient outcomes.