Feasibility analysis of bipolar electric scalpel forceps manipulator with 2-DOFs bending mechanisms

Hiromasa Yamashita, K. Matsumiya, K. Masamune, E. Kobayashi, I. Sakuma, H. Liao, M. Hashizume, T. Dohi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper proposes multi-functionalization of the previously reported laparoscopic forceps manipulator with multi-slider linkage mechanism which enables 2-DOFs horizontal and vertical bending of ±90 degrees and 1-DOF grasping manipulation. Specifically we added a bipolar electric scalpel function on the forceps blades for more safe, speedy and efficient surgical operation with coagulation of tissues and occlusion of blood vessels from various directions in abdominal cavity. This functionalization can lead cutting down the number of surgical instruments and insert ports, and saving troubles of changing tools. For the scalpel function, we mounted a pair of electrodes measuring 1.0 × 5.0 × 0.1 mm × 2 lines aligned with a 0.5-mm space, to generate high current density between two forceps blades. In animal experiment using swine (39 kg, male), we evaluated the ability of occluding blood vessels on mesenteric surface tissues through various directional approach paths using 2-DOFs bending manipulation effectively. We coagulated blood vessels 2-3 times with setting of 20 W and 2-3 seconds energization. And in order to confirm whether the blood vessels were completely occluded or not, we attempted a cut of ablated parts with scissors and checked blood leak. In this experiment we tried to occlude 6 vessels. Four vessels were occluded successfully, while other two vessel occlusions were incomplete. A little leak was shown in these vessels, however, some repeated coagulation made complete seals. These incomplete coagulations resulted from ablated tissues on the electrodes surface for something of a shield to interrupt effective energization. For the solution of this trouble, it can be effective to improve the electrode and forceps blade shapes. In conclusion, we are sure of feasibility of the bipolar electrode scalpel function with multi-DOFs bending manipulator to ablate tissues and seal blood vessels for laparoscopic clinical applications.

Original languageEnglish
Title of host publicationIFMBE Proceedings
EditorsSun I. Kim, Tae Suk Suh
PublisherSpringer Verlag
Number of pages4
ISBN (Print)9783540368397
Publication statusPublished - 2007
Event10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 - Seoul, Korea, Republic of
Duration: Aug 27 2006Sept 1 2006

Publication series

NameIFMBE Proceedings
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277


Other10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Biomedical Engineering


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