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：目前多数手术机器人器械及其驱动装置仍因清洁流程复杂存在残留污染风险，导致其可重复复用性受限，且器械尺寸普遍大于腹腔镜手术标准的5mm规格。本研究提出的新型可操控腹腔镜SATA-LRS采用模块化设计以提升清洁性与器械更换便利性。本次研究同时介绍了SATA-Drive驱动装置：一款专为3mm缩比版SATA-LRS设计的机器人驱动系统，用于实现其驱动操控。
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缩比版SATA-LRS作为验证样机开展相关实验。同时开展用户实验，以测试器械与驱动装置的对接与脱对接操作性能。
结果：实验视频显示，SATA-Drive可成功完成末端执行器的关节运动、旋转与抓取操作。末端执行器更换时长可达29（标准差10）秒，器械完整对接耗时21（标准差6）秒，脱对接耗时则为16（标准差7）秒。
讨论：该驱动装置可将非手术型机械臂有效改造为类机器人辅助腹腔镜手术系统。其分段式模块化结构具备良好的适配性，可助力未来新型手术器械的推广应用。SATA-LRS具备的清洁友好特性，以及无需拆卸即可更换末端执行器的能力，有望为医疗机器人领域带来积极价值。本次研制的3mm缩比版SATA-LRS也展现了其在微型腹腔镜手术中的应用潜力。