The Smart SATA Driver: A modular robotic driver for SATA instruments with smart sensing

Abstract

Cable-driven instruments used in robotic surgery are difficult to sterilize and prone to wear. The reuse of these instruments is, therefore, limited. Since robotic surgery continues to grow, millions of robotic instruments will be discarded, impacting the environment and increasing operational costs. As an alternative, the Shaft-Actuated Tip-Articulating (SATA) instrument was developed: a reusable, modular and sterilisable laparoscopic instrument. The Advanced Laparoscopic Robotic System (ADLAP RS) is a robotic surgical platform being developed as an affordable and sustainable system that is compatible with the SATA instrument and features modular components for inspection and sterilization.
The aim of this study is to develop a new robotic driver that features smart sensing to avoid electronics and sensors in the sterile environment (which complicates sterilization). The Smart SATA Driver (SSD) was developed as an interface for the ADLAP RS, which connects to the robotic arm and actuates the SATA instrument. This paper presents the design, development, and validation process of the SSD. The SSD is a reusable, cableless, modular, lightweight and sensorless system that actuates SATA instruments. Utilizing StallGuard technology, a low-cost, sensorless solution for instrument calibration and force limitation was developed based on back EMF measurements in stepper motors. Hereby, sensors and electronics are omitted from the sterile environment. Future work will focus on refining the coupling process and enhancing the force feedback system using StallGuard.