Design and Testing of a Three Fingered Flexural Laparoscopic Grasper

Laparoscopic surgery requires complex manipulation and movement of internal organs. Current laparoscopic devices succeed in offering surgeons remote access to internal organs but lack the grasping degrees of freedom achieved by the human hand. Specifically, needle nose end effectors engage organs via pinching and can cause tissue perforation. To enhance surgical capacity, a three fingered laparoscopic device was designed, fabricated, and tested. Flexures are used to provide three points of articulation in each finger, while minimizing part count. Flexure joints are modeled as pseudorigid bodies and designed for manufacture with medical grade plastics. Articulation is achieved by tendonlike control cables. To integrate with current laparoscopic procedures, the device fits through a 12 mm trocar port. Furthermore, a handle was designed for this device to offer better control. Testing the device with organlike objects revealed an increased ability to grasp, move, and otherwise engage items.