compact modular system for teleoperated laparoendoscopic single site surgery

O.J Isaac-Lowry, S. Okamoto, P. Berkelman Department of Mechanical Engineering, University of Hawaii-Manoa

ojil@hawaii.edu, steeleo@hawaii.edu, peterb@hawaii.edu

Compact Modular System for Teleoperated Laparoendoscopic Single Site Surgery

Existing Teleoperated Surgical Systems:

DaVinci by Intuitive Surgical Systems Inc.

Existing Teleoperated Surgical Robot Systems:

• More accurate and easier for surgeon to manipulate instruments

• Costs, complexity, maintenance, setup time, size are problematic

• Not well suited for single-incision surgery

Endoscope assistant:

• Low cost, simple, quick setup

• Well suited for manual laparo-

endoscopic single-site surgery

ViKY by EndoControl SA

University of Hawaii System:

A simple, economical, single-incision system that is intuitive to setup and use

Triangulated Articulated Instruments

45 Degree Shaft Bend

Compact Motor Footprint

Improved Cable Drives

Instrument

Endoscope

Camera

Manipulator

Motors

Common

Trocar

Manipulator

Links

Rotating

Instrument

Collar

Optical Tracking Target

CAD Render of

Two Instrument Setup

Single Port System:

Endoscope and instrument manipulators share common

base and all shafts inserted through single trocar

180 mm base ring, 330 mm vertical structure, ~6 kg

Testing with single instrument

Preliminary Results:

X-Y Projection of Motion Captured

with Optical Tracking Basic Dexterity Tests:

Can perform standard peg transfer

Accuracy and repeatability

confirmed via optical tracking of

end effector motions

NDI Polaris Vicra Optical Tracker

Flexible Wrist

Removable Tool Tip

(±90˚ bending angle in any direction)‏

Support provided by University of Hawaii-Manoa College of Engineering, NIH grant #5R21EB006073, and Intuitive Surgical Inc.

Prior articulated wrist testing with surgical models and previous UH modular multi-incision system

3D Printed Components:

Dimension uPrint 3D printer

Intricate components with less cost and complexity

Press fit 3D printed joints with minimal hysteresis