Optimization of design parameters for a flexible endoscopic surgical tool using medical imaging data for minimally invasive surgery (MIS)

Abstract

This article proposes a systematic methodology for determining the feasible workspace and deriving critical design parameters of a flexible endoscopic surgical stapler developed for laparoscopic rectal procedures. Pre-operative MRI data from 77 patients (47 male, 30 female from Nantes Hospital), encompassing a diverse range of anatomical variations, were utilized to generate a detailed three-dimensional model of the feasible surgical workspace through manual segmentation of distinct tissue at each MRI layer for each patient.

A two-stage optimization process was conducted, beginning with two-dimensional workspace analysis using contouring, binary masking & Euclidean distance transformations and subsequently extending to three-dimensional optimization using MATLAB’s fmincon function, to establish a geometrically valid workspace. The optimized workspace facilitated the derivation of design specifications, including the tool’s length, and enabled a comparative usability analysis across the patient group. The results indicate that the proposed stapler design is well-suited for use in anatomically constrained environments where conventional tools are inadequate. This approach offers a robust framework for improving the design of robotic surgical instruments, with the potential to enhance precision, adaptability, and clinical outcomes in minimally invasive surgery.