Abstract

DOLL, S; SCHEFFER, C  and  DU TOIT, G. Development of a Magnetic Intra-Uterine Manipulator. R&D j. (Matieland, Online) [online]. 2013, vol.29, pp.11-17. ISSN 2309-8988.

This paper introduces the concept of a novel magnetic intra-uterine manipulator, intended to overcome conventional medical devices' shortcomings, and enabling non-invasive uterine manipulation during surgery. However, analyses have shown that the magnetic manipulator is unable to compete in terms of the range of motion of the existing devices. A limited anterior sagittal rotation range of 60° was observed in a magnetic manipulator compared to a range of 140° for conventional devices. Despite these limitations, use of a magnetic manipulator could eliminate the need for an additional medical assistant during surgery; it is also reusable and thus also more economical. The second goal of the research was to investigate which type of setup would be most successful in effective uterine manipulation. Through concept analysis, a cart-on-arch system was deemed most effective. To lift an effective load of 1 N over an air gap of 150 mm, rare-earth N38 neodymium (NdFeBr) magnets showed the most promise as magnetic actuators for the manipulator. Finite Element Analysis (FEA) simulations of the magnetic set-up were validated experimentally and produced an acceptable Mean Absolute Error (MAE) of 0.15 N.

Keywords : Laparoscopic instrumentation; minimally invasive surgery; uterine manipulation; surgical robotics.

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