Analysis of the knot-tying force in dog models

Junya Oguma, Soji Ozawa, Vasuhide Morikawa, Toshiharu Furukawa, Masaki Kitajima, Kazuo Nakazawa, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


From our experience of endoscopic surgery using the surgical robot da Vinci at our hospital, it has become dear that the lack of a sense of touch of the forceps makes meticulous operations difficult For the development of a surgical robot that would impart a sense of touch, we investigated the appropriate knot-tying force by determining the relation between this force and wound healing in dog models. We cut and then sutured the jejnum of Beagle dogs, using a series of knot-tying forces (03-5.0 N). The jejunum was then removed on the 4 th,7 th,11 th and 14 th postoperative days, and the microvessd density for each force was measured to determine the appropriate knot-tying force for the jejunum. The microvessd density in the submucosa on the 7 th and 11 th postoperative days was significantly higher for theknot-tying force of 1.5 N than for other forces used. Thus, the results of our study suggested that a knot-tying force of 1.5 N was the most appropriate force for suturing of wounds of the jejnum. We consider that this result would be useful for the development of a surgical robot that imparts a sense of touch to the surgeon's hand.

Original languageEnglish
Number of pages3
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28


OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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