MAGNETIC ACTUATION OF LAPAROSCOPIC ATRAUMATIC GRASPER

Abstract

Laparoscopic device incorporating magnetic actuation mechanism has been designed that would provide desired precise grip with minimal risk of tissue damage. To actuate laparoscopic grasper; an external magnet would be coupled with the internal permanent magnet to drive leadscrew mechanism which would further actuate the scissor mechanism to open and close the grasper. The laparoscopic device consisted of multiple parts which were assembled to obtain the final device. In-silico design of laparoscopic device was made on Solid Works and furthermore assembly was done in Inventor 2016. Different parts of device were fabricated by milling and high speed lathe machine. Grasper jaws were fabricated using CNC EDM wire cut machine. The mechanism is voltage driven, the optimal operating requirement was found to be 12 Volts. In proposed device, maximum force grasper applies horizontally is 9.7 N whereas its 4.7 N vertically for a duration of 30 s but now precision is improved. As designed prototype takes 14 revolutions to open the grasper & to close it.