Company insight
Figure 2: maxon designs and manufactures a complete line of motors, gearboxes, and accessories for a wide variety of motion system applications, which enables a rapid iterative process in the design of MIRA that would meet demanding high speed and torque requirements.
to high speeds and torques. maxon was in a unique position to support Virtual Incision’s rapid iterative ‘make and improve’ design process because of its complete line of motors (see Figure 2) and world-renowned expertise. Testing and qualification activities are also supported to assure reliability and consistency of the subassemblies going into the MIRA system. maxon’s team of engineers was helpful from conception and design to manufacturing of the subsystems. Virtual Incision developed all of the accompanying hardware, firmware, and software in-house to optimise miniaturisation and device performance characteristics. The team was able to increase the efficiency of the system and maximise the deliverable output power for each joint. This design feature is what makes MIRA very strong for its size, delivering
up to two pounds of output force anywhere in the workspace while maintaining speed and agility.
A Unique Approach The mainframe-type RAS systems incorporate motors located outside of the body, placed on booms or pedestals in order to give the device enough strength. MIRA gains its strength in a small size by placing the motors inside the body. The rigid (non- snake-like) arms with the motors mounted inside deliver the needed strength while also enabling triangulation of the camera and instruments (see Figure 3). The device has been used clinically for bowel resection procedures, and this is the first time the motors for an RAS device have ever actually operated inside the human body. The requirements of surgery demand both strength and speed. Through the use of high-efficiency, top-of-the-line
motors, MIRA has been designed specifically to manipulate large and heavy organs such as the colon. The RAS must be able to mimic the real-time motions of the surgeon in order for it to provide quick responses when required. In addition to strength, colorectal procedures often require the RAS system to reach into multiple quadrants of the abdomen – sometimes all four. Multi-port mainframe systems require careful port placement and procedure choreography to avoid external arm collisions. MIRA’s miniaturised, self-contained design enables full anatomical access without the concern of external arm collisions. Additionally, the articulated camera design ensures proper triangulation between the instruments and camera in all operating scenarios. As a medical device, special considerations including sterilisation, biocompatibility, electrical safety, and delivery of electrocautery were all part of the MIRA design.
Conclusion Virtual Incision believes the best and most productive approach to innovation |is through doing. The company designs products by creating something, testing it profusely and learning everything possible from the experience. This make- and-improve approach has enabled the company to implement iterations in minimal time, allowing them to push the boundaries of the technology, in this case, making smaller RAS devices. As a partner, maxon has provided the technical expertise as well as the willingness to try variations to Virtual Incision’s innovations. In the end, MIRA is the smallest RAS on the market. It offers significant strength for its size and enables quick set-up in any operating room. This includes outer space, as a version of MIRA has been tested on the International Space Station in 2024 where surgeons on Earth remotely controlled the device from a console to simulate activities performed in surgery, including cutting simulated tissue and manipulating small objects.
The MIRA Surgical System will be on display at Compamed, at the maxon booth, Stand G16, Hall 8a. ●
Figure 3: The rigid arms with the motors mounted inside provide strength while fully enabling triangulation of the camera and instruments.
Medical Device Developments /
www.nsmedicaldevices.com
www.maxongroup.com 75
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