Colorectal Surgery with the Senhance Digital Laparoscopic Platform

Darwich, Ibrahim; Stephan, Dietmar

doi:10.1007/978-3-031-15198-9_5

Cited by 2 publications

(3 citation statements)

References 17 publications

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“…The company "Asensus" developed a line of 5mm modular, steerable instruments that operate without cables for robotic use. Though their non-steerable instruments are reusable through cleaning, their steerable instruments are not yet fit for cleaning and are disposables [18]. Recently, their focus also shifted towards non-steerable 3mm instruments [13].…”

Section: F Noveltymentioning

confidence: 99%

The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments

Lenssen,

Dankelman,

Horeman

2024

IEEE Trans. Med. Robot. Bionics

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Introduction: Most robotic instruments and their drives still risk residual contamination due to 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 dis-and reassembly is possible in 36 (13 SD) seconds, while complete instrument coupling requires 28(8 SD) seconds and de-coupling requires 16 (7 SD) seconds. Discussion: A non-surgical robot arm, mounted with the SATAdrive has effectively been transformed 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.

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Section: F Noveltymentioning

confidence: 99%

The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments

Lenssen,

Dankelman,

Horeman

2024

IEEE Trans. Med. Robot. Bionics

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“…The company "Asensus" has similarly developed a set of modularly applicable, cableless, reuasble instruments, with attached gearbox, though these are not articulated. Their steerable instruments are disposables (Darwich and Stephan, 2022). The company "Distalmotion" has had a different interest in instrument modularity and instrument exchange.…”

Section: Comparison To Other Systemsmentioning

confidence: 99%

“…Some instruments that tackle these issues do exist. The company "Asensus" has developed reusable and cableless instrument, but these are not steerable (Darwich and Stephan, 2022). Similarly, the company "Distalmotion" developed steerable instruments with a focus on sustainability through lowered complexity, but these are nonetheless sing-use (Digitalmotion, 2023).…”

Section: Introductionmentioning

confidence: 99%

The MISLI-Drive, a modular sterilizable robotic driver for steerable laparoscopic instruments

Lenssen,

Bîrjac,

Dankelman

et al. 2023

Front. Robot. AI

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Introduction: Based on the success of the former “Shaft-Actuated, Tip-Articulated” SATA-Drive, a prototype robotic instrument driver for modular, steerable, laparoscopic instruments, a new driver is designed and tested to improve previously lacking features concerning cleanability, instrument adaptation, practical application and control. The design of the driver engages these issues with a modular design aimed at re-use of both the instrument and the driver, for which a set of design requirements are established.Methods: A new modular design has been developed to improve cleanability through separation of the electro-motors and the instrument mechanism which clutches the instrument. Contamination of the driver’s robotic side is prevented though a combination of a drape and a Sterile barrier interface, while the instrument side is made sterilizable. A novel instrument clutching mechanism enables quick-release features, while a motor-axis latching mechanism enables plug-and-play assembly. Embedded sensors allow precise and fast control. A user-experiment was conducted on instrument exchange and assembly time, while mechanical and electrical tests were conducted on the driver’s responsiveness.Results: The driver has proven its ability to control the instrument, after which it can be disassembled for cleaning and inspection. The driver is designed for re-use through disassembled sterilization where all possibly contaminated surfaces are exposable for cleaning and inspection. The new standardized instrument clutches allow easy instrument (dis-)assembly. Instrument exchange is possible in two methods, the fastest of which is a median of 11 (6.3–14.6) seconds. The driver’s instrument mechanism is separated in a median of 3.7 (1.8–8.1) seconds. After assembly, the driver is operational in less than 2 s.Discussion: Instrument exchange times are similar to the semi-reusable Da Vinci systems, yet the MISLI-Drive is designed for sterilization, inspection and continual re-use. The modular build of the driver also allows easier parts replacement during maintenance, and requires minimal adaptation to different future scenarios, which is expected to reduce the overall cost of use.

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Colorectal Surgery with the Senhance Digital Laparoscopic Platform

Cited by 2 publications

References 17 publications

The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments

The SATA-Drive: A Modular Robotic Drive for Reusable Steerable Laparoscopic Instruments

The MISLI-Drive, a modular sterilizable robotic driver for steerable laparoscopic instruments

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