This paper presents design advancements for minimally invasive surgical stapler-cutters. Considering existing constraints including range of articulation, a cable-pulley transmission design is pursued. Kinematic relationships to optimize toward constant cable path length are presented. A more ergonomic handle layout is proposed to improve force transmission and comfort for the surgeon. Prototyping results demonstrate achievement of design goals related to range of motion and instrument size.
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Swerczek et al. (2024) studied this question.
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