Development of Handheld Multi-DOF Endoluminal Forceps using Compliant Mechanism

Multi-DOF (Degree of Freedom) endoluminal forceps is a useful device for assisting endoscopic treatment. However, articulating endoluminal forceps with conventional mechanism have a large number of parts, thus have some problems such as size and cost. Multi-DOF endoluminal forceps using a compliant mechanism has a smaller number of parts, and is advantageous in terms of miniaturization and cost reduction. In this study, we developed a mechanical handheld device without a motor. In order to accurately manipulate the bending motion of forceps with a joystick, a force transmission model has been formulated. With reference to this force transmission model, a prototype was manufactured with a 3D printer. Finally, we succeeded in lifting the simulated intestinal mucous membrane by the prototyped forceps, confirming the effectiveness of the proposed method.