Design of a multifunctional compliant instrument for minimally invasive surgery

Mary I. Frecker, Katherine M. Powell, Randy Haluck

Research output: Contribution to journalArticlepeer-review

52 Scopus citations


A new multifunctional compliant instrument has been designed for use in minimally invasive surgery. The instrument combines scissors and forceps into a single multifunctional device. The main advantage of using multifunctional instruments for minimally invasive surgery is that instrument exchanges can be reduced, thus reducing procedure time and risk of inadvertent tissue injury during instrument exchanges. In this paper, the length, width, and thickness of the multifunctional compliant mechanism tool tip is optimized to maximize the jaw opening and the grasping force. The optimized design is then modeled to simulate the stresses encountered in the scissors mode. A 5.0 mm diameter stainless steel prototype is fabricated using electro-discharge machining and is shown to grasp and cut successfully.

Original languageEnglish (US)
Pages (from-to)990-993
Number of pages4
JournalJournal of Biomechanical Engineering
Issue number6
StatePublished - Nov 2005

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Physiology (medical)


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