Kirigami-based disposable laparoscopic instruments under direct surgeon control

Carl A. Nelson

doi:10.1115/DMD2021-1010

Kirigami-based disposable laparoscopic instruments under direct surgeon control

Carl A. Nelson

Mechanical & Materials Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

In this paper, we present a method for fabricating inexpensive, disposable, articulated instruments for minimally invasive surgery based on Japanese paper arts. Building on the literature covering the kinematics of origami, we introduce an articulated instrument design with antagonistic tendon actuation. A general method for achieving a fixed motion scaling ratio in these types of systems is also presented. Kinematic simulations and prototyping demonstrate feasibility of this concept.

Original language	English (US)
Title of host publication	Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791884812
DOIs	https://doi.org/10.1115/DMD2021-1010
State	Published - 2021
Event	2021 Design of Medical Devices Conference, DMD 2021 - Virtual, Online Duration: Apr 12 2021 → Apr 15 2021

Publication series

Name	Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021

Conference

Conference	2021 Design of Medical Devices Conference, DMD 2021
City	Virtual, Online
Period	4/12/21 → 4/15/21

Keywords

Disposable instruments
Kirigami
Laparoscopic instruments
Matched kinematic input device
Origami

ASJC Scopus subject areas

Biomedical Engineering

Access to Document

10.1115/DMD2021-1010

Cite this

Kirigami-based disposable laparoscopic instruments under direct surgeon control. / Nelson, Carl A.
Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021. American Society of Mechanical Engineers, 2021. V001T13A001 (Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nelson, CA 2021, Kirigami-based disposable laparoscopic instruments under direct surgeon control. in Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021., V001T13A001, Proceedings of the 2021 Design of Medical Devices Conference, DMD 2021, American Society of Mechanical Engineers, 2021 Design of Medical Devices Conference, DMD 2021, Virtual, Online, 4/12/21. https://doi.org/10.1115/DMD2021-1010

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AB - In this paper, we present a method for fabricating inexpensive, disposable, articulated instruments for minimally invasive surgery based on Japanese paper arts. Building on the literature covering the kinematics of origami, we introduce an articulated instrument design with antagonistic tendon actuation. A general method for achieving a fixed motion scaling ratio in these types of systems is also presented. Kinematic simulations and prototyping demonstrate feasibility of this concept.

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Kirigami-based disposable laparoscopic instruments under direct surgeon control

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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