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Design and experimental verification of a portable multi-degree-of-freedom electric needle holder

Lin Xin, Wenjie Yu, Yangzhi Liu, Liuxiao Cheng, Zhongxin Hu, Chengli Song


School of Health Sciences and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.


Address correspondence to: Chengli Song, School of Health Sciences and Engineering, University of Shanghai for Science and Technology, No.516 Jungong Road, Shanghai 200093, China. Tel: +86-15000513058; E-mail: csong@usst.edu.cn.


Received December 3, 2024; Accepted March 4, 2025; Published June 30, 2025


Highlights

● Innovative Design: A wire-driven multi-degree-of-freedom electric needle holder enhances laparoscopic suturing flexibility and stability.

● Advanced Motion Control: Two rotational joints enable yaw and pitch movements for precise needle placement in confined spaces.

● Superior Clamping Performance: With a maximum clamping force of 29.6 N an extraction force of 12.9 N, the needle holder prevents slippage.

● 28% Faster Suturing: Reduced operation time due to minimized repositioning in complex procedures.

● Clinical Potential: Validated through diverse tests, demonstrating accuracy and efficiency in minimally invasive surgery.

Abstract

Objective: To design and validate a portable multi-degree-of-freedom electric needle holder to improve operational flexibility and precision in laparoscopic surgery, while reducing the operator's workload. The design optimizes the transmission system to enable precise control of surgical instruments, addressing the challenges of complex surgical environments. Methods: A multi-degree-of-freedom transmission structure, driven by steel wires, was designed. It integrates motors and angle sensors to achieve multi-directional rotation and force control for the grasping forceps. The experimental section includes tests for maximum gripping force, maximum extraction force, and a porcine suturing experiment. The performance of the electric needle holder was compared with traditional needle holders in simulated laparoscopic surgery to verify its effectiveness. Results: Experimental results show that the maximum gripping force of the electric needle holder at various angles reached 29.6 N, significantly higher than that of traditional needle holders. The maximum extraction force for needles of different sizes is approximately 12.9 N, effectively preventing needle slippage. Additionally, the porcine suturing experiment demonstrated that the electric needle holder significantly reduced operation time and improved suturing precision in complex surgical settings. Conclusion: The portable multi-degree-of-freedom electric needle holder enhances operational flexibility and safety in laparoscopic surgery by increasing the rotational degrees of freedom and precise motor control. Its superior gripping force and operational efficiency suggest strong clinical potential, offering significant improvements over traditional surgical instruments.

Keywords: Needle holder, multi-degree-of-freedom, motor-driven, portable, structural design

Xin L, Yu WJ, Liu YZ, Cheng LX, Hu ZX, Song CL. Design and experimental verification of a portable multi-degree-of-freedom electric needle holder. Prog in Med Devices 2025 Jun; 3 (2): 127-135. doi: 10.61189/483711ymetia
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