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

Minimally invasive surgery involves repetitive and physically demanding manipulation tasks that contribute to surgeon fatigue and limit ergonomic efficiency. Semi-autonomous robotic assistance offers the potential to alleviate this workload, particularly for non-destructive supporting actions, such as tissue traction and presentation. This work presents a modular robotic toolhead designed to actuate standard laparoscopic instruments on robotic platforms, providing a research platform for autonomous assistance.

The developed system integrates grasping actuation with a novel capstan linear drive, axial instrument rotation, extensible electrical interfaces, and a ROS2-based software framework into a compact end-effector without requiring instrument modification. The toolhead prototype undergoes functional testing and setup evaluation in a clinical simulation.

Functional verification included successful grasping and axial rotation of different laparoscopic grasper types, insertion and removal of an instrument via a dedicated interface, exchange of the complete instrument adapter and toolhead, and decoupling under excessive grasping force. The software framework enabled coordinated actuation control, system monitoring, and data acquisition for future evaluation. The integration of the system into a laparoscopic phantom setup representative of cholecystectomy and sigmoid resection procedures showed workspace compatibility and workflow integration.

The results demonstrate the feasibility of the proposed modular architecture as a flexible research platform for robotic laparoscopic assistance and future investigation of force-controlled grasping and semi-autonomous manipulation strategies.