Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform

Area of Science:

• Robotics
• Surgical Technology
• Biomedical Engineering

Background:

• Minimally invasive robotic surgery demands instruments with enhanced dexterity and smaller diameters.
• Current robotic surgical systems often have limitations in instrument size and maneuverability for certain procedures.

Purpose of the Study:

• To assess the feasibility of developing and controlling a 2 mm diameter robotic surgical instrument.
• To design and model a three degree-of-freedom (DoF) wrist for miniature surgical instruments compatible with the da Vinci platform.

Main Methods:

• Developed a kinematic model for a two DoF bending notched-nitinol tube pattern for the instrument's wrist.
• Designed a base mechanism for wrist control, integrating with the da Vinci Research Kit.
• Performed basic teleoperation tasks using two of the miniature instruments.

Main Results:

• Successfully demonstrated the creation and control of a 2 mm diameter robotic surgical instrument.
• The instrument's wrist, utilizing a nitinol tube pattern, achieved two DoF bending.
• Basic teleoperation tasks were successfully executed, validating the instrument's functionality.

Conclusions:

• Creating and accurately controlling a 2 mm diameter robotic surgical instrument is feasible.
• The proposed design and kinematic modeling provide a foundation for future miniature instrument development in robotic surgery.
• The developed instrument shows promise for enhanced precision in minimally invasive procedures.