The SATA-Drive demonstration video, instruction video and dataset

Introduction: Most robotic instruments and their drives still risk residual contamination due cleaning complexities, rendering them limited reusable, and tend to have larger instruments than the 5mm laparoscopic standard. The novel steerable laparoscopic SATA-LRS uses modularity for cleanability and exchangeability. The SATA-Drive: a robotic driver designed for the actuation of a 3mm scaled version of the SATA-LRS is presented. Methods: A modular, expandable gear mechanism was designed to efficiently rotate and translate the instrument shafts. The 3mm SATA-LRS is controlled as proof. An user-experiment is conducted to test the (de)coupling of the instrument to and from the drive. Results: A video shows the SATA-Driver successfully articulating, rotating and grasping the end-effector. End-effector exchange is possible in 29 (10) seconds, while complete instrument coupling requires 21 (6) seconds and de-coupling requires 16 (7) seconds. Discussion: The drive has effectively transformed a non-surgical robot arm into a system similar to robot assisted laparoscopy. The modularity of the drive’s segmented build can easily be adapted and could benefit the adoption of future instruments. The SATA-LRS’s cleanability features and its end-effector changes without disassembly are expected to benefit medical robotics. The 3mm SATA-LRS shows the instrument’s potential for mini-laparoscopy.

引言：目前大多数手术机器人器械及其驱动装置仍因清洁流程复杂而存在残留污染风险，导致其可重复使用性受限，且器械尺寸普遍大于5mm腹腔镜手术的通用标准。本研究提出的新型可操纵腹腔镜SATA-LRS（SATA-LRS）通过模块化设计实现清洁性与可更换性。本文同时介绍了SATA驱动装置（SATA-Drive）：一款专为3mm缩比版SATA-LRS设计的机器人驱动系统，用于实现其驱动控制。
方法：本研究设计了模块化可扩展齿轮传动机构，可高效实现器械杆的旋转与平移运动，并以3mm版SATA-LRS作为验证样机开展控制实验。为验证器械与驱动装置的对接与脱接性能，本研究开展了用户操作实验。
结果：展示视频显示，SATA驱动装置可顺利完成末端执行器（end-effector）的关节运动、旋转与抓取操作。末端执行器更换耗时为29（10）秒，器械完全对接耗时21（6）秒，脱接耗时则为16（7）秒。
讨论：该驱动装置可将非手术机器人机械臂有效改造为类似机器人辅助腹腔镜手术的操作系统。驱动装置的分段式模块化结构具备良好的适配性，可为未来新型器械的推广应用提供助力。SATA-LRS的清洁设计特性以及无需拆解即可更换末端执行器的优势，有望为医疗机器人领域带来增益。3mm版SATA-LRS也展现了其在微型腹腔镜手术中的应用潜力。