Design And Analysis Of Multi-functional Laparoscopic Tool
Raghavan, Vadakkapattu Candadai Venkat
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Laparoscopic tools have been developed over many years, but there is a need for a laparoscopic tool that can be used for multiple purposes without the need to be removed and reinserted in the body. This thesis discusses the design of such a multi-functional laparoscopic tool with the ability to independently actuate grasping and shearing mechanisms, and is modular enough to be easily adapted to robot assisted surgical techniques. The envisioned tool can be divided into three main sections - the surgeon interface, the transmission mechanism, and the end effector. The surgeon interface mainly consists of a handle and two thumb wheels for the various actuations. The transmission mechanism in a layered approach provides for independent motion transmission to the end effector for blade release/retract and open/close actions. The end effector consists of grasping and shearing tools and their actuating mechanisms. Motion and force equations are derived and used in an optimization setting to determine the values of selected design parameters of mechanical components.