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The MISLI-Drive, a modular sterilizable robotic driver for steerable laparoscopic instruments.

Tomas Lenssen1, Radu Bîrjac1, Jenny Dankelman1

  • 1Minimally Invasive Surgery and Interventional Techniques (MISIT)-Lab, Department of Biomedical Engineering, Delft University of Technology, Delft, Netherlands.

Frontiers in Robotics and AI
|October 23, 2023
PubMed
Summary

A new modular robotic instrument driver, the MISLI-Drive, enhances cleanability and instrument adaptation for laparoscopic surgery. It offers quick instrument exchange and robust design for repeated sterilization and reuse, reducing long-term costs.

Keywords:
RASinstrument driverlaparoscopyreusablerobotic surgerysustainable

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Area of Science:

  • Minimally Invasive Surgical Technologies
  • Robotic Surgery
  • Surgical Instrument Design

Background:

  • Existing robotic instrument drivers present challenges in cleanability and instrument adaptability.
  • The previous SATA-Drive prototype showed promise but required improvements in modularity and practical application.
  • Need for reusable, sterilizable, and easily adaptable robotic instruments in laparoscopic surgery.

Purpose of the Study:

  • To design and test a new modular robotic instrument driver (MISLI-Drive) addressing limitations of previous designs.
  • To improve cleanability, instrument adaptation, practical application, and control of robotic surgical drivers.
  • To establish design requirements for reusability of both instruments and the driver.

Main Methods:

  • Developed a modular design separating electro-motors from the instrument clutching mechanism.
  • Implemented a sterile barrier interface and sterilizable instrument side to enhance cleanability.
  • Incorporated a novel quick-release instrument clutching mechanism, a motor-axis latching mechanism for plug-and-play assembly, and embedded sensors for precise control.

Main Results:

  • The MISLI-Drive demonstrated effective instrument control and was successfully disassembled for cleaning and inspection.
  • Instrument exchange median time was 11 seconds; instrument mechanism separation median time was 3.7 seconds.
  • The driver is operational in under 2 seconds after assembly, designed for disassembled sterilization and continuous reuse.

Conclusions:

  • The MISLI-Drive offers rapid instrument exchange and efficient disassembly, comparable to existing systems but designed for sterilization and reuse.
  • Its modularity facilitates easier maintenance and adaptation to future scenarios, potentially reducing overall cost of use.
  • The design supports enhanced cleanability and reusability, crucial for advancing robotic minimally invasive surgery.