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Laparoscopic surgical device with modular end tools for real-time endomicroscopy and therapy

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Abstract

In recent years, laparoscopic surgery attracts considerable attention for its distinct advantages owing to minimized invasiveness. However, traditional surgical instruments have a single function and lack the ability to provide high-resolution images for real-time tissue assessment. Thus, it remains a challenge to perform complex procedures with the traditional surgical instruments. In this paper, a novel laparoscopic surgical device for real-time endomicroscopy and therapy is proposed. The device is integrated with a visualization unit to provide endoscopic images in a constrained cavity for real-time observation. Moreover, modular end tools can be assembled and switched with the multi-DOF manipulator. The experimental results demonstrate that the surface-scanning tool can perform smooth scanning and obtain a large area mosaic of 6.99 mm2 in 40.2 s for tissue assessment. The spring-loaded forceps can generate an output force of 1.47 N to manipulate tissue. These experimental results demonstrate the potential value of the device for intraoperative endomicroscopy-guided surgery and robot-assisted surgery.

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Funding

This work was supported in part by National Key R&D Program of China under Grant No. 2019YFB1311501 and in part by National Natural Science Foundation of China under Grant No. 61773280.

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  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China

    Haibo Wang & Siyang Zuo

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  1. Haibo Wang
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  2. Siyang Zuo
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Correspondence to Siyang Zuo.

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Wang, H., Zuo, S. Laparoscopic surgical device with modular end tools for real-time endomicroscopy and therapy. Med Biol Eng Comput 59, 787–797 (2021). https://doi.org/10.1007/s11517-021-02341-x

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  • DOI: https://doi.org/10.1007/s11517-021-02341-x

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