Development of a multi-DOF ultrasonically activated scalpel using precise flexible joint mechanism

2021 Fiscal Year Final Research Report

• Project/Area Number: 20K14679
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Tokyo National College of Technology
• Principal Investigator: Haraguchi Daisuke 東京工業高等専門学校, 機械工学科, 准教授 (40767729)
• Project Period (FY): 2020-04-01 – 2022-03-31
• Keywords: 超音波メス / 多自由度手術デバイス / 柔軟関節構造 / 超弾性合金

Outline of Final Research Achievements

A multi-degree-of-freedom ultrasonic scalpel with an active blade made of a superelastic alloy (NiTi) that enables tip bending and grasping motions was developed. The active blade is equipped with a strip-shaped local flexible part, and a wire drive mechanism enables a compact bending motion of ±60°. The prototype active blade has good nominal performance with a drive voltage of 25 V, a resonance frequency of 57.5 kHz, and a transducer current of 528 mA in the linear state. Stable ultrasonic resonance was also achieved in the flexural state, but the performance degradation due to the decrease in vibration amplitude and durability issues were revealed. Cauterization experiments using edible pork showed that the proposed grasping mechanism can be used to perform a wide range of procedures.

Free Research Field

ロボット、メカトロニクス、医用工学

Academic Significance and Societal Importance of the Research Achievements

近年内視鏡下で行う低侵襲手術が広く普及し、またロボット支援手術がますます盛んに行われるようになってきていることから、より精密かつ安全な手術を行うための多自由度な治療デバイスが求められている。本研究成果はこのニーズに強く応えるものであり、低侵襲手術をはじめとする多くの診療科の外科手術において、超音波メスの患部に対する正確なアプローチが可能となり、過剰な組織損傷や術後合併症の低減に寄与する。また、従来リスクの高かった狭小部位でもより安全な処置が行えるようになり、超音波メスの適用術式がさらに拡大していくことが期待される。