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