Lenssen Tomas, Bîrjac Radu, Dankelman Jenny, Horeman Tim
Minimally Invasive Surgery and Interventional Techniques (MISIT)-Lab, Department of Biomedical Engineering, Delft University of Technology, Delft, Netherlands.
Front Robot AI. 2023 Oct 6;10:1227708. doi: 10.3389/frobt.2023.1227708. eCollection 2023.
Based on the success of the former "Shaft-Actuated, Tip-Articulated" SATA-Drive, a prototype robotic instrument driver for modular, steerable, laparoscopic instruments, a new driver is designed and tested to improve previously lacking features concerning cleanability, instrument adaptation, practical application and control. The design of the driver engages these issues with a modular design aimed at re-use of both the instrument and the driver, for which a set of design requirements are established. A new modular design has been developed to improve cleanability through separation of the electro-motors and the instrument mechanism which clutches the instrument. Contamination of the driver's robotic side is prevented though a combination of a drape and a Sterile barrier interface, while the instrument side is made sterilizable. A novel instrument clutching mechanism enables quick-release features, while a motor-axis latching mechanism enables plug-and-play assembly. Embedded sensors allow precise and fast control. A user-experiment was conducted on instrument exchange and assembly time, while mechanical and electrical tests were conducted on the driver's responsiveness. The driver has proven its ability to control the instrument, after which it can be disassembled for cleaning and inspection. The driver is designed for re-use through disassembled sterilization where all possibly contaminated surfaces are exposable for cleaning and inspection. The new standardized instrument clutches allow easy instrument (dis-)assembly. Instrument exchange is possible in two methods, the fastest of which is a median of 11 (6.3-14.6) seconds. The driver's instrument mechanism is separated in a median of 3.7 (1.8-8.1) seconds. After assembly, the driver is operational in less than 2 s. Instrument exchange times are similar to the semi-reusable Da Vinci systems, yet the MISLI-Drive is designed for sterilization, inspection and continual re-use. The modular build of the driver also allows easier parts replacement during maintenance, and requires minimal adaptation to different future scenarios, which is expected to reduce the overall cost of use.
基于前一代“轴驱动、尖端铰接式”SATA驱动器（一种用于模块化、可转向腹腔镜器械的原型机器人器械驱动器）的成功经验，设计并测试了一种新的驱动器，以改进先前在可清洁性、器械适配性、实际应用和控制方面所缺乏的功能。该驱动器的设计通过模块化设计来解决这些问题，旨在实现器械和驱动器的重复使用，并为此制定了一套设计要求。已开发出一种新的模块化设计，通过将电动机与夹持器械的器械机构分离来提高可清洁性。通过使用手术单和无菌屏障接口相结合的方式，可防止驱动器机器人侧受到污染，而器械侧则可进行消毒。一种新颖的器械夹持机构具备快速释放功能，而电机轴锁定机构则实现了即插即用的组装方式。嵌入式传感器实现了精确且快速的控制。针对器械更换和组装时间进行了用户实验，同时对驱动器的响应性进行了机械和电气测试。该驱动器已证明其具备控制器械的能力，之后可进行拆卸以便清洁和检查。该驱动器设计为可通过拆卸消毒实现重复使用，所有可能受污染的表面都可进行清洁和检查。新的标准化器械离合器使器械的（拆卸）组装变得容易。器械更换有两种方式，其中最快的方式平均用时11（6.3 - 14.6）秒。驱动器的器械机构分离平均用时3.7（1.8 - 8.1）秒。组装后，驱动器在不到2秒内即可投入使用。器械更换时间与半可重复使用的达芬奇系统相似，但MISLI驱动器专为消毒、检查和持续重复使用而设计。驱动器的模块化结构还便于在维护期间更换部件，并且对不同的未来场景所需的适配最少，预计这将降低总体使用成本。
