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

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.