Modular instrument actuation unit for robotic-assisted systems in laparoscopic surgery.

Area of Science:

• Robotics
• Minimally Invasive Surgery
• Surgical Technology

Background:

• Minimally invasive surgery (MIS) presents ergonomic challenges due to repetitive, physically demanding tasks, leading to surgeon fatigue.
• Semi-autonomous robotic assistance can mitigate surgeon workload, especially for supportive actions like tissue manipulation.
• Existing robotic systems may require specialized instruments, limiting flexibility.

Purpose of the Study:

• To present a modular robotic toolhead designed for actuating standard laparoscopic instruments on robotic platforms.
• To establish a versatile research platform for developing autonomous robotic assistance in surgery.
• To investigate the potential of robotic tools in reducing surgeon fatigue and improving ergonomic efficiency.

Main Methods:

• Development of a compact end-effector integrating grasping actuation, capstan linear drive, axial instrument rotation, and electrical interfaces.
• Implementation of a ROS2-based software framework for coordinated control and data acquisition.
• Functional testing and clinical simulation setup evaluation using laparoscopic phantoms for cholecystectomy and sigmoid resection.

Main Results:

• Successful functional verification of grasping, axial rotation, instrument exchange, and decoupling under force.
• Demonstrated coordinated actuation control, system monitoring, and data acquisition capabilities.
• Verified workspace compatibility and workflow integration in realistic surgical simulation setups.

Conclusions:

• The modular robotic toolhead architecture is feasible for robotic laparoscopic assistance.
• The developed system serves as a flexible research platform for advanced surgical robotics.
• Future research can focus on force-controlled grasping and semi-autonomous manipulation strategies.