A study on safe forceps grip force for the intestinal tract using haptic technology

Abstract

Purpose

The present study used haptic technology to determine the safe forceps grip force for preventing organ damage when handling the intestinal tract.

Material and methods

The small intestines of ten male beagle dogs (weighing 9.5–10 kg) were grasped with the entire forceps for one minute; the small intestines were then pulled out of the forceps and evaluated for damage. The force at which the shaft inside the forceps was pulled to close the tip of the forceps was defined as the grip force. Small intestine damage was classified into macroscopic (serosal defects, hemorrhage, hematomas, grip marks) and microscopic (damage layer to the mucosa, submucosa/muscularis mucosa, inner orbicularis muscle, external longitudinal muscle, serosa/subserosa). Grip marks and damage layer to the serosa/subserosa have been considered as acceptable safety margins when grasping the small intestines of beagle dogs.

Results

The macroscopic findings showed that the maximum grip force that produced a 0% incidence of hemorrhage and hematoma was 15 N. At the microscopic level, the maximum grip force that produced a 0% incidence of external longitudinal muscle injury was 15 N, respectively.

Conclusions

A grip force of 15 N does not damage the small intestines of beagle dogs.

Keywords:

• haptics
• haptic forceps
• safety gripping force
• robotic surgery

Acknowledgements

The authors would like to thank Ms Izu Inada (Department of Gastroenterological Surgery, Tokai University School of Medicine) for assisting us in the preparation of this manuscript. This research was supported by the Support Center for Medical Research and Education of Tokai University School of Medicine. The authors would like to thank Mr. Noboru Kawabe, Ms Akemi Kamijo and Mr. Hiroshi Asai for their support. The authors used an English Language Service (International Medical Information Center, Shinjuku-ku, Tokyo, Japan) for editing the language in the manuscript.

Declaration of interest

No potential conflict of interest was reported by the author(s).