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Bipolar coagulation - capable microforceps

机译：双极电凝-微型钳

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Microforceps that can be used with the hyper utility mechatronic assistant system (HUMAN) for bipolar coagulation in minimally invasive neurosurgery were developed. A method of using two sets of those forceps for bipolar coagulation was developed, in which electrical current is passed through the drive wires to the forceps tips to form an electrical circuit. A prototype mechanism that employs a torque tube to achieve an opening and closing speed of 138/spl deg//s was fabricated. A forceps drive system that has a delay time of 0.06 s was constructed by using a fast control algorithm. In vivo experiments on rat abdomen and rat brain blood vessels confirmed that the bipolar coagulation function is of a practical level. Three neurosurgical clinicians confirmed the good operability and practicality of the gripping function in experiments on a human cadaveric brain. Furthermore, both doctors and engineers confirmed that the microforceps described here can be used in their present form in tumor removal and other such procedures. Following these basic engineering experiments, basic medical experiments (including experiments on the optimum distance between the lens of the endoscope and, the object of manipulation), various surgical procedures performed on living rat brain, surgical simulations performed on a human cadaver, and experiments on safety in ethylene oxide gas sterilization were performed. They lead to the conclusion that clinical use of the HUMAN system is feasible.
机译：开发了可与超实用机电一体化辅助系统（HUMAN）一起用于微创神经外科手术中双极电凝的微型镊子。开发了一种使用两组镊子进行双极电凝的方法，其中电流通过驱动线传递到镊子尖端以形成电路。制造了采用扭矩管以实现138 / spl deg // s的打开和关闭速度的原型机构。通过使用快速控制算法构建了具有0.06 s延迟时间的镊子驱动系统。在大鼠腹部和大鼠脑血管上的体内实验证实，双极凝血功能具有实用水平。三名神经外科临床医生证实了在人体尸体脑的实验中，抓握功能具有良好的可操作性和实用性。此外，医生和工程师都确认，此处描述的微型镊子可以其当前形式用于肿瘤切除和其他此类手术。在进行了这些基本的工程实验之后，进行了基本的医学实验（包括内窥镜透镜与操作对象之间的最佳距离的实验），对活着的大鼠大脑进行的各种外科手术，对人体尸体进行的外科手术模拟以及进行环氧乙烷气体灭菌的安全性。他们得出结论，在临​​床上使用HUMAN系统是可行的。

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