Comparison of two cable configurations in 3D printed steerable instruments for minimally invasive surgery.

ABSTRACT: In laparoscopy, a small incision size improves the surgical outcome but increases at the same time the rigidity of the instrument, with consequent impairment of the surgeon's maneuverability. Such reduction introduces new challenges, such as the loss of wrist articulation or the impossibility of overcoming obstacles. A possible approach is using multi-steerable cable-driven instruments fully mechanical actuated, which allow great maneuverability while keeping the wound small. In this work, we compared the usability of the two most promising cable configurations in 3D printed multi-steerable instruments: a parallel configuration with all cables running straight from the steerable shaft to the handle; and a multi configuration with straight cables in combination with helical cables. Twelve p

SUBMITTER: Culmone C 

PROVIDER: S-EPMC9531805 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature