The SATA-Drive

A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments

Journal article (2024)

Authors

T.A. Lenssen Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
J. Dankelman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
J. DANKELMAN Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
J DANKELMAN Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
J Dankelman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
Jenny Dankelman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
Jenny DANKELMAN Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
T. Horeman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
Tim Horeman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
Research Group
Medical Instruments & Bio-Inspired Technology (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2024 T.A. Lenssen, J. Dankelman, T. Horeman
DOI: https://doi.org/10.1109/TMRB.2023.3339846
More Info
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Published Date

2024

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Medical Instruments & Bio-Inspired Technology

Abstract

Introduction: Most robotic instruments and their drives still risk residual contamination due to cleaning complexities, rendering them limited reusable, and tend to have larger instruments than the 5mm laparoscopic standard. The novel steerable laparoscopic SATA-LRS uses modularity for cleanability and exchangeability. The SATA-Drive: a robotic driver designed for the actuation of a 3mm scaled version of the SATA-LRS is presented. Methods: A modular, expandable gear mechanism was designed to efficiently rotate and translate the instrument shafts. The 3mm SATA-LRS is controlled as proof. An user-experiment is conducted to test the (de)coupling of the instrument to and from the drive. Results: A video shows the SATA-Driver successfully articulating, rotating and grasping the end-effector. End-effector dis- and reassembly is possible in 36 (13 SD) seconds, while complete instrument coupling requires 28(8 SD) seconds and de-coupling requires 16 (7 SD) seconds. Discussion: A non-surgical robot arm, mounted with the SATA-drive has effectively been transformed into a system similar to robot assisted laparoscopy. The modularity of the drive's segmented build can easily be adapted and could benefit the adoption of future instruments. The SATA-LRS's cleanability features and its end-effector changes without disassembly are expected to benefit medical robotics. The 3mm SATA-LRS shows the instrument's potential for mini-laparoscopy.