Design and Realization of a Low-Cost Instrument Adapter for the da Vinci Surgical Telemanipulator

Abstract

Robot-assisted minimally invasive surgery using the da Vinci telemanipulator system has transformed modern surgical practice. However, the high cost of these systems limits access for educational institutions and research groups. This paper presents the design and implementation of a low-cost, modular instrument adapter that enables the actuation of original da Vinci surgical instruments using standard industrial robots. The adapter employs four Dynamixel servo motors controlled by an OpenRB-150 microcontroller, with a Python-based dashboard for user interaction. The mechanical design features 3D-printed components with a spring-loaded force coupling mechanism for reliable torque transmission and a modular robot flange for compatibility with different manipulator systems. Current-based homing enables automatic limit detection without additional sensors. The complete system was realized within a budget of <400 EUR, demonstrating a viable approach for making surgical robotics technology accessible for teaching and research purposes.