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Book Sections Year : 2023

Design of a surgical stapler for laparoscopic colectomy


In this article, a flexible surgical stapler mechanism is designed to serve as a basis for laparoscopic rectal cancer surgery in which conventional tools cannot be easily accessed. The mechanism is designed by implementing a stacked tensegrity mechanism with a flexible beam as the central spine. The workspace analysis for the stapler was done by studying collaborative data of CT scans of the surgical site from the Axial, Coronal, and Sagittal planes at different intervals. The kinematic equations for the mechanism were synthesized using Hooke's law with a rotational spring and bending moment. For the tensegrity mechanism, singularities and simulations of the mechanism were also analyzed incorporating the eyelet friction parameter. The results of the study signify that the friction parameter can modify the radius of curvature of the mechanism and needs to be analyzed correctly.


Automatic Cancer
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hal-04029163 , version 1 (14-03-2023)


  • HAL Id : hal-04029163 , version 1


Dhruva Khanzode, Ranjan Jha, Alexandra Thomieres, Emilie Duchalais, Damien Chablat. Design of a surgical stapler for laparoscopic colectomy. 8th International Workshop on New Trends in Medical and Service Robots, Springer, 2023. ⟨hal-04029163⟩
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