A novel laparoscopic grasper with two parallel jaws capable of extracting the mechanical behaviour of soft tissues

Abstract

Data related to force-deformation behaviour of soft tissue plays an important role in medical/surgical applications such as realistically modelling mechanical behaviour of soft tissue as well as minimally invasive surgery (MIS) and medical diagnosis. While the mechanical behaviour of soft tissue is very complex due to its different constitutive components, some issues increase its complexity like behavioural changes between the live and dead tissues. Indeed, an adequate quantitative description of mechanical behaviour of soft tissues requires high quality in vivo experimental data to be obtained and analysed. This paper describes a novel laparoscopic grasper with two parallel jaws capable of obtaining compressive force-deformation data related to mechanical behaviour of soft tissues. This new laparoscopic grasper includes four sections as mechanical hardware, sensory part, electrical/electronical part and data storage part. By considering a unique design for mechanical hardware, data recording conditions will be close to unconfined-compression-test conditions; so obtained data can be properly used in extracting the mechanical behaviour of soft tissues. Also, the other distinguishing feature of this new system is its applicability during different laparoscopic surgeries and subsequently obtaining in vivo data. However, more preclinical examinations are needed to evaluate the practicality of the novel laparoscopic grasper with two parallel jaws.

Keywords:

• Laparoscopic grasper
• parallel jaws
• mechanical behaviour
• force-deformation data
• surgery simulation

Disclosure statement

The authors would like to state that there are no declarations of interest.

Additional information

Funding

The authors gratefully acknowledge the Robotic Surgery Lab., RCBTR, (based in Imam Khomeini Hospital, Tehran University of Medical Sciences and Health Services, Tehran, Iran) for their financial support for this research article.