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难度较高而存在残留污染风险，导致其可重复使用性受限，且器械尺寸普遍超出5mm腹腔镜手术的标准规格。本研究提出的新型可操纵腹腔镜SATA-LRS采用模块化设计，以提升清洁性与可更换性。本文同时介绍了专为SATA-LRS的3mm缩尺版本设计的机器人驱动装置SATA-Drive。 方法：本研究设计了一款模块化、可扩展的齿轮传动机构，可实现器械轴的高效旋转与平移运动，并以3mm规格的SATA-LRS作为验证对象进行控制测试。此外开展了用户实验，以测试器械与驱动装置的耦合与解耦操作。 结果：相关视频展示了SATA-Drive可成功实现末端执行器的关节运动、旋转与抓取操作。末端执行器的更换操作可在29（10）秒内完成，器械与驱动装置的完整耦合耗时为21（6）秒，解耦耗时则为16（7）秒。 讨论：该驱动装置可将非手术用机器人手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，有望推动未来新型手术器械的临床应用与推广。SATA-LRS的清洁设计优势以及无需拆解即可更换末端执行器的特性，将为医疗机器人领域带来显著收益。3mm规格的SATA-LRS也验证了其在微型腹腔镜手术中的应用潜力。