compact modular system for teleoperated laparoendoscopic single site surgery
TRANSCRIPT
O.J Isaac-Lowry, S. Okamoto, P. Berkelman Department of Mechanical Engineering, University of Hawaii-Manoa
[email protected], [email protected], [email protected]
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