ArticleMicromachines2025
Design and Analysis of a Magnetic Anchored and Cable-Driven Surgical Forceps for Minimally Invasive Surgery.
Article in Micromachines, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Authors and funding
4 authors.
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Abstract
Magnetic surgical instruments are primarily driven by magnetic force and/or micro-motors. When micro-motors are used to drive motion, they are typically installed near the manipulator joints, resulting in a larger manipulator size due to the presence of micro-motors. We designed a magnetic anchored and cable-driven surgical forceps, which separates micro-motors from the manipulator through cables. The cables are responsible for transmitting motion and force from micro-motors to the manipulator. This design enables the integration of relatively large motors (diameter: 8 mm) while maintaining a compact overall diameter of the manipulator (diameter: 10 mm). This is beneficial for improving the flexibility of the manipulator and facilitating the coordination between surgical instruments. The manipulator of the magnetic anchored and cable-driven surgical forceps has three degrees of freedom (DoFs): pitch, yaw and clamping. A magnetic attraction experiment was conducted to measure the magnetic force on the magnetic surgical forceps with the variation of abdominal skin thickness. The results indicate that at a distance of 20 mm, the magnetic force exerted on the magnetic surgical forceps is 5.86 N, with a maximum vertical load capacity of 5.13 N. Additionally, an ex vivo experiment was conducted to validate the practicality of the magnetic anchored and cable-driven surgical forceps prototype.
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