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University of California, San Diego
Department of Mechanical and Aerospace Engineering
Sponsored by Dr. Mark Onaitis, Stevie Bellwood (UCSD Health)
Benjamin Tarver | Michelle Henien
Divya Gangaramani | Kai Sims
Final Design Overview
The multiload clip applier contains six key components: a clip cartridge, a clip pusher plate, modified clip applier jaws, a jaw closer plate, a clip cartridge holder, and an outer shell. The design allows the components to be compactly arranged within the shell to prevent any pinching of tissue from moving parts.
The core mechanism of this design is a cable system that aligns the two plates for precise movement. The cable loops over the top extrusions on the cartridge holder for security. When the surgeon pulls one side of the cable, a clip is advanced into the jaws from the cartridge, and pulling the other side of the cable closes the jaws, firing and compressing the clip. This cycle repeats as needed throughout the procedure, streamlining the clip application process.
Multiload Clip Applier
Multiload Clip Applier
Background
Background
During cardiothoracic surgery, such as heart and lung procedures, surgeons frequently utilize robot-assisted systems like Intuitive Surgical's da Vinci Xi. This advanced system features detachable robotic arms that provide precise motion control, allowing surgeons to navigate within the patient with exceptional accuracy.
Problem Definition
Problem Definition
During surgery, an endoscopic clip applier is used to limit blood flow in vessels. The applier is manually loaded with a clip in its jaws, inserted into the body through a surgical port, and fired by the surgeon once positioned correctly.
As displayed in the flowchart, this requires a surgical assistant to remove the instrument, manually attach a new clip from a cartridge, and then reinsert it through the port before the procedure can continue. This inefficiency becomes particularly problematic in time-sensitive situations, such as managing internal bleeding and can be considered time-consuming.
Objective
The primary goal of our project is to design a robotically-assisted multiload clip applier that can seamlessly integrate with the existing da Vinci system used at UCSD Health. Our product must be able to hold multiple titanium clips while also being straight-forward in its operation for ease of use during surgical applications.
Device Primary Requirements
Compatible with the existing da Vinci system.
Automatic reloading within the patient.
Minimum clip capacity of three titanium clips.
Design Secondary Requirements (User Needs)
Ideally fits through 8mm diameter shaft (maximum of 15mm).
Uses bio-compatible and steam sterilizable materials.
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