The DLR MiroSurge is a molular system for minimally invasive robotic telesurgery. It combines several robotic components, including three robot arms MIRO and at least two instruments MICA.
In 2010 MiroSurge was presented to the public for the first time.
The telesurgery system DLR MiroSurge includes a surgeon console with a 3D-display and two haptic input devices and three MIRO robot arms. Two MIROs move the laparoscopic instruments (MICA), which can measure the interaction forces with the patient tissue thanks to integrated miniaturized force torque sensors. The third MIRO guides a stereo endoscope. Both the video stream from the stereo endoscope and the measured forces can be displayed to the surgeon at the surgeon console. Therefore the surgeon can not only see the situation in the operating field but thanks to force feedback also feel it at the haptic input devices.
The DLR MiroSurge Research platform for minimally invasive surgery: Two Robot arms carry robotic instruments DLR MICA, the third arm the endoscope (black). Due to their low weight, the MIROs can be attached directly to the side rails of the OR table.
DLR (CC-BY 3.0).
Laboratory setup of the MiroSurge system, seen from the head of the “patient”: The three robot arms are attached to the side rails of the operating room table, the tips of the endoscope (middle) and the two MICA instruments are inserted into the patient via trocars.
Lateral view of the MiroSurge setup: The assistant console in the background contains the control computers of the robot arms and the instruments as well as the light source of the endoscope.
The operator telemanipulates the MiroSurge system from a user console by means of a 3D-display and two haptic input devices. The open structure of the user console preserves the contact to the processes at the operating room table.
Artwork of a minimally invasive intervention with the DLR MiroSurge system: The left DLR MIRO holds the endoscope and each of the two MIROs on the right a DLR MICA instrument for minimally invasive surgery.