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MICA

The MICA is a versatile instrument for minimally invasive robotic surgery. Being a 3DoF-robot, it is attached to the MIRO arm and extends the kinematic chain by three joints.
In 2010 the MICA was presented to the public for the first time.

Technical data

System description

The DLR MICA is the second generation of versatile instruments for minimally invasive surgery developed at the Institute of Robotics and Mechatronics. For minimally invasive procedures in the context of the MiroSurge scenario those robotic instruments are coupled to a MIRO robot arm. Thus the MICA extends the telemanipulator by the joints 8, 9 and 10. A MICA consists of a drive unit and a task-specific tool with tool interface, shaft and end effector.

Various tools targeted at different surgical applications can be used with the MICA drive unit, differing in the number of DoFs, functionality of the end effector, and range of motion. Propulsion for the tool is provided by means of 3 linear motions transmitted through a tool interface between drive unit and tool. The tool interface provides suitable propulsion scaling for the tool as well as standardized digital communication with any sensors located in the tool, such as the DLR force/torque sensor. In the present configuration the tool is comprised of a 2 DoF wrist, gripper and 7 DoF force/torque sensor, providing dexterous manipulation and haptic feedback from the operation site. However, tools range from grippers over scissors to needle holders in minimally invasive surgery.

The versatile design approach followed for the MIRO and conformance to the MiroSurge setup outline a number of requirements for the instrument design:

• Clear separation between the robotic platform and the instrument: The MIRO robot provides a single mechanic interface to any instrument. Still, quick instrument changes have to be possible during surgical procedures. This requires the MICA drive unit to contain all necessary motors, power, communication, motor control, and sensor signal conditioning electronics.
• Lightweight design: Weight saving at the instrument improves the dynamic properties of the robot arm and permits the application of higher manipulation forces.
• Small size of the drive unit, particularly in diameter: Multiple robotic arms will be working in close proximity around the operating table. Interference and collisions of instruments have to be avoided.