OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools

Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent high cost, with few commercially available options, which limits general access research on RMIS. We aim take advantage recent progress biocompatible printing contribute development technologies, presenting open platform low-cost, biocompatible, customizable RSTs. The proposed design concept consists 3-DOF end-effector decoupled wrist mechanism, interface module, drive unit. validated our using Finite Element Analysis (FEA) confirm stress generated by grip forces is maintained below material yield stress. Validation experiments showed RST could provide up 10N 3N pulling forces. control framework exhibited mean absolute positioning tracking error approximately 0.1 rad. Finally, we also demonstrated use two training tasks: pick-and-place stitching. designs software open-access freely customization fast at https://github.com/jcolan/OpenRST .