The DLR MIRO: a versatile lightweight robot for surgical applications

TLDR

Surgical robotics are divided into specialized and versatile systems, yet versatile systems often rely on industrial robots whose bulk, safety, and suitability for crowded operating rooms are problematic, highlighting the need for lightweight, compact designs. The purpose of this paper is to describe the DLR MIRO, a new versatile lightweight robot for surgical applications. The DLR MIRO is engineered as a 10‑kg, compact, slim robot with integrated torque‑sensing, allowing safe, direct assistance at the operating table without interference. With a 30‑N payload, optimized kinematics, and Cartesian/joint‑level position, torque, and impedance control, the robot supports a wide range of applications including telepresence, endoscopic surgery, autonomous, and soft‑robotics tasks, even with multiple arms.

Abstract

Purpose Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems can be used in different surgical applications, control architectures and operating room set‐ups, but often still based on the adaptation of industrial robots. Space consumption, safety and adequacy of industrial robots in the unstructured and crowded environment of an operating room and in close human robot interaction are at least questionable. The purpose of this paper is to describe the DLR MIRO, a new versatile lightweight robot for surgical applications. Design/methodology/approach The design approach of the DLR MIRO robot focuses on compact, slim and lightweight design to assist the surgeon directly at the operating table without interference. Significantly reduced accelerated masses (total weight 10 kg) enhance the safety of the system during close interaction with patient and user. Additionally, MIRO integrates torque‐sensing capabilities to enable close interaction with human beings in unstructured environments. Findings A payload of 30 N, optimized kinematics and workspace for surgery enable a broad range of possible applications. Offering position, torque and impedance control on Cartesian and joint level, the robot can be integrated easily into telepresence (e.g. endoscopic surgery), autonomous or soft robotics applications, with one or multiple arms. Originality/value This paper considers lightweight and compact design as important design issues in robotic assistance systems for surgery.