The SATA-Drive: a 5-DOF robotic driver for the SATA-LRS laparoscopic instrument-line
EAES Academy. Horeman T. 07/05/22; 366557; P300
Abstract
Introduction: Robot assisted surgery has proven to have high potential for driving complex instruments with additional degree of freedom but that still suffers from residual contamination and limited re-use. The SATA-LRS offers a modular solution focused on cleanability and exchangeability. The SATA-Drive, a robotic driver, is made for the actuation of a 3mm scaled version of the SATA-LRS, made and used as proof of concept.
Methods: A specific gear mechanism has been designed to efficiently translate motor rotation to linear translation of the shafts. The Drive is used to control the 3mm instrument in a demonstration using a robotic arm. Eight subjects are included in an user-experiment on the (de)coupling of the instrument on the drive.
Results: The Drive and the 3mm instrument have been successfully produced. A demonstrative video shows the SATA-Driver successfully control the 3mm instrument in grasping and steering. The user-experiment shows tip-exchange possible in 33 seconds, while complete instrument de-coupling requires 28 seconds.
Discussion: The SATA-Diver is able to sufficiently control the SATA-LRS. The addition of the Diver has effectively transformed a non-surgical robot arm into a system able to perform tasks similar as in robot assisted laparoscopy. The features of the SATA-LRS around cleanability and modularity are expected to benefit such systems, as well as its ability to change end-effector without disassembly.
Methods: A specific gear mechanism has been designed to efficiently translate motor rotation to linear translation of the shafts. The Drive is used to control the 3mm instrument in a demonstration using a robotic arm. Eight subjects are included in an user-experiment on the (de)coupling of the instrument on the drive.
Results: The Drive and the 3mm instrument have been successfully produced. A demonstrative video shows the SATA-Driver successfully control the 3mm instrument in grasping and steering. The user-experiment shows tip-exchange possible in 33 seconds, while complete instrument de-coupling requires 28 seconds.
Discussion: The SATA-Diver is able to sufficiently control the SATA-LRS. The addition of the Diver has effectively transformed a non-surgical robot arm into a system able to perform tasks similar as in robot assisted laparoscopy. The features of the SATA-LRS around cleanability and modularity are expected to benefit such systems, as well as its ability to change end-effector without disassembly.
Introduction: Robot assisted surgery has proven to have high potential for driving complex instruments with additional degree of freedom but that still suffers from residual contamination and limited re-use. The SATA-LRS offers a modular solution focused on cleanability and exchangeability. The SATA-Drive, a robotic driver, is made for the actuation of a 3mm scaled version of the SATA-LRS, made and used as proof of concept.
Methods: A specific gear mechanism has been designed to efficiently translate motor rotation to linear translation of the shafts. The Drive is used to control the 3mm instrument in a demonstration using a robotic arm. Eight subjects are included in an user-experiment on the (de)coupling of the instrument on the drive.
Results: The Drive and the 3mm instrument have been successfully produced. A demonstrative video shows the SATA-Driver successfully control the 3mm instrument in grasping and steering. The user-experiment shows tip-exchange possible in 33 seconds, while complete instrument de-coupling requires 28 seconds.
Discussion: The SATA-Diver is able to sufficiently control the SATA-LRS. The addition of the Diver has effectively transformed a non-surgical robot arm into a system able to perform tasks similar as in robot assisted laparoscopy. The features of the SATA-LRS around cleanability and modularity are expected to benefit such systems, as well as its ability to change end-effector without disassembly.
Methods: A specific gear mechanism has been designed to efficiently translate motor rotation to linear translation of the shafts. The Drive is used to control the 3mm instrument in a demonstration using a robotic arm. Eight subjects are included in an user-experiment on the (de)coupling of the instrument on the drive.
Results: The Drive and the 3mm instrument have been successfully produced. A demonstrative video shows the SATA-Driver successfully control the 3mm instrument in grasping and steering. The user-experiment shows tip-exchange possible in 33 seconds, while complete instrument de-coupling requires 28 seconds.
Discussion: The SATA-Diver is able to sufficiently control the SATA-LRS. The addition of the Diver has effectively transformed a non-surgical robot arm into a system able to perform tasks similar as in robot assisted laparoscopy. The features of the SATA-LRS around cleanability and modularity are expected to benefit such systems, as well as its ability to change end-effector without disassembly.
{{ help_message }}
{{filter}}