Parallel robotic system for minimally invasive pancreatic surgery

Abstract

The invention relates to a parallel robotic system for minimally invasive pancreatic surgery. The robotic system comprises three modules: a surgical instrument positioning module, which is a robot with three degrees of translational freedom and a parallel structure; a spherical surgical instrument guidance module, in the form of a parallel, spherical, non-actuated mechanism with two degrees of orientational freedom, mounted on a manually adjustable mechanism for positioning; and the surgical instrument, simultaneously linked to the positioning module and the spherical guidance module, configured to be manipulated with an offset center of movement. The specific advantages of the proposed robotic system for minimally invasive pancreatic surgery are: high precision and rigidity, modularity, small size, and improved ergonomics, facilitating the surgical procedure for surgeons.

Description

Title of the invention: Parallel robotic system for minimally invasive pancreatic surgery technical field

[0001] The present invention relates to a robotic system, in particular for minimally invasive pancreatic surgery.

[0002] The system presented is not limited to a surgical application and is relevant for all types of tasks in other fields where a precision intervention on a device in a small space and far from the point of insertion is required, for example when the object on which the intervention to be carried out, or the person carrying out the intervention, are in enclosures protecting the external environment. Previous technique

[0003] In the example of minimally invasive pancreatic surgery, the space in the surgical field is limited and manual manipulation of surgical instruments is difficult.

[0004] The robotic system of the present invention aims to improve the ergonomics of minimally invasive procedures, particularly but not exclusively, on the pancreas and to increase patient safety during the operation.

[0005] Document CN106994045A refers to a parallel robot for minimally invasive surgery with three kinematic chains, which manipulates a surgical instrument using the remote center motion positioning concept known by the English acronym RCM for "Remote Center Motion positioning". The insertion point in the surgical field is located at the center of the robot's paddle, which must therefore be positioned above the patient.

[0006] Document CN114886562A relates to a serial robotic system for minimally invasive surgery in the pleuroperitoneal cavity, which includes a two-degree-of-freedom instrument positioning module and a spherical module for orienting and inserting the surgical instrument. The positioning module is intended to position and support the spherical module above the patient (pedestal).

[0007] Document ES2390436A1 refers to a parallel robotic system for minimally invasive surgery that manipulates a surgical instrument with four degrees of freedom. The robotic system has a support mechanism mounted on the frame of a surgical bed that supports the parallel robot for manipulating the surgical instrument. Summary of the invention

[0008] The parallel robotic system of the invention overcomes the specific drawbacks of other robotic systems, particularly for minimally invasive surgery and especially for pancreatic surgery, thanks to the following characteristics:

[0009] a modular structure where the surgical instrument module is manipulated by a robotic positioning module and constrained by a spherical guidance module, the robotic system offers superior rigidity, increased dynamic characteristics and eliminates disturbing movements;

[0010] By using a spherical guidance module, the RCM movement is limited by the very architecture of the system: the instrument can only be manipulated around the point of insertion in the surgical field, which increases the precision and rigidity of the robotic system and, consequently, patient safety during surgery; and

[0011] The modular nature of the system allows the modules to be assembled in different configurations, for example different distances between the spherical guidance module and the positioning module, and thus to adapt the surgery to each patient.

[0012] To this end, the parallel robotic system comprises: an instrument that can be manipulated simultaneously by a positioning module with three active degrees of freedom and a spherical guidance module with two passive degrees of freedom configured to constrain the movements of the instrument around an insertion point in an operating field.

[0013] Thus, the system uses the cooperation between an active system, rigid by its parallel architecture and a passive system to combine movements and constrained positions while maintaining for an operator a certain flexibility of action with the instrument in this constrained space, thus offering dexterity and safety.

[0014] The system can be implemented by the embodiments and variants set out below, which are to be considered individually or in any technically feasible combination.

[0015] According to one embodiment, the positioning module comprises three kinematic chains extending in intersecting planes and linked together, in which a first kinematic chain extends in a fixed base plane, a second kinematic chain extends in an orientable plane intersecting the base plane and pivotable relative to the base plane, a third kinematic chain extends in a third plane intersecting the base plane and the orientable plane, the second kinematic chain being linked to the third kinematic chain by a passive link around a positioning point in elevation relative to the base plane, the active links for moving the positioning point being carried by the first kinematic chain.

[0016] Thus the positioning module is based on a three-dimensional parallel architecture ensuring positioning rigidity while allowing the location of the active link devices substantially in the base plane so that neither their size nor their weight hinders the handling of the instrument, particularly but not exclusively in manual operation without the aid of the active link actuators.

[0017] According to one embodiment the first kinematic chain is linked to a fixed frame relative to an assembly platform and includes a planar mechanism comprising two active translations relative to the frame and passive links relative to the frame, configured to guide a platform in a planar Cartesian movement.

[0018] Active translations according to this embodiment, active translations can be achieved by cylindrical couples linked to the frame by a sliding pivot joint active in translation and in which the cylindrical couples are further linked to the platform by a pair of connecting rods in a triangular configuration in pivot joints at their ends along axes perpendicular to the pivot joint active in translation with on the one hand the cylindrical couples and on the other hand the platform.

[0019] Thus the first kinematic chain is itself made according to a parallel architecture, giving rigidity and positioning precision of the positioning module on its base.

[0020] The second kinematic chain can be linked to the cylindrical couples by a first passive pivot link of the active sliding pivot link in translation of the cylindrical couples, configured to orient the orientable plane relative to the fixed plane.

[0021] According to one embodiment, the second kinematic chain may comprise two members each linked by second passive pivot joints with axis perpendicular to that of the first passive pivot joint to the cylindrical pairs, the two members being linked to each other at one of their ends in elevation relative to the base plane by a cardan cross (12), the two members being arranged according to a triangular configuration.

[0022] Thus, according to this embodiment, the second kinematic chain is also made according to a parallel architecture conferring rigidity and precision.

[0023] According to one embodiment, the third kinematic chain comprises a mast connected at one end to the platform by an active pivot joint and at another end in elevation relative to the base plane by a passive pivot joint to one end of a boom, the other end of the boom being connected to the cardan cross.

[0024] Advantageously, the third kinematic chain may include a passive elastic element extending between the mast and the boom, configured to compensate for a gravitational force.

[0025] A gripping element can be linked to the positioning point of the positioning module by a passive link.

[0026] According to a first variant, the instrument is linked to the gripping element by a passive link comprising two degrees of freedom in rotation relative to the positioning point.

[0027] According to a second variant, the instrument is linked to the gripping element by a passive link comprising three degrees of freedom in rotation relative to the positioning point.

[0028] The system may include a positioning device linked, at one end, to the mounting platform and at the other end to the spherical guidance module by a passive pivot link.

[0029] According to one embodiment, the spherical guidance module includes an end element configured to be passively linked by a sliding pivot joint with the instrument.

[0030] According to one embodiment, the spherical guidance module comprises a plurality of rigid curved elements articulated together by passive pivot links in a parallel architecture, the axes of these passive links intersecting at a spherical center of rotation of the spherical guidance module.

[0031] According to another embodiment, the spherical guide module comprises a plurality of rigid curved elements articulated together by passive pivot links according to a series architecture, the axes of these passive links intersecting at a center of rotation of the spherical guide module.

[0032] The system in which the instrument is a surgical instrument can be configured for a minimally invasive pancreatic surgery operation. Brief description of the drawings

[0033] A specific application of the parallel robotic system of the present invention is robot-assisted minimally invasive pancreatic surgery. This application is used by way of illustration but is not intended to be limiting. The system is described in the embodiment examples set forth below with reference to [Fig. 1] to [Fig. 7], in which Fig. 1

[0034] [Fig.1] illustrates the parallel robotic system for minimally invasive pancreatic surgery, with the modules composing it, in close proximity to a patient on an operating table; Fig. 2

[0035] [Fig.2] shows the three closed kinematic chains of the positioning module; Fig.3

[0036] [Fig.3] details the first kinematic chain of the positioning module, including a planar mechanism with two active translations, 3A according to a top view and 3B according to a bottom view; Fig. 4

[0037] [Fig.4] details the second kinematic chain of the positioning module, comprising two active translations and one passive rotation; Fig. 5

[0038] [Fig.5] details the third kinematic chain of the positioning module, including an active rotation and a passive rotation, 5A according to a first embodiment implementing a cardan joint connection and 5B according to a variant implementing a ball joint connection; Fig. 6

[0039] [Fig.6] shows the spherical guidance module of the surgical instrument, with two degrees of freedom, having a closed kinematic architecture; the guide module being positioned at the insertion point using a manual positioning mechanism, 6A according to a parallel mechanism, 6B according to a series mechanism; Fig. 7

[0040] [Fig.7] illustrates an instrument, in particular a surgical instrument, for the robot-assisted minimally invasive pancreatic surgery and the elements for connecting the instrument to the robotic system. Description of the implementation methods

[0041] Throughout the text, the terms "passive link", "passive coupling", "passive degree of freedom" or equivalent define a guiding relationship between two or more elements, the terms "active link", "active coupling", "active degree of freedom" or equivalent define a guiding relationship between two or more elements which includes one or more means, for example a motor, allowing the imposition and control of a relative displacement of the elements thus linked, compatible with the linking mode.

[0042] [Fig.1] According to one embodiment, the robotic system consists of three main modules: a positioning module (1), a spherical guidance module (2) and an instrument (3), in particular a surgical instrument, positioned and guided simultaneously by the positioning module and the spherical guidance module.

[0043] The positioning module (1) is designed for controlled positioning of the instrument (3) within a workspace through active translations, ensuring high rigidity thanks to parallel mechanisms. Positioning and maintaining the positioning module (1) relative to an intervention area, particularly an operating table, can be achieved using a telescopic table (110), which allows It also features a vertical adjustment, the relative position of which with respect to the intervention area remains constant during the procedure. This improves patient safety during surgery.

[0044] The spherical guidance module (2) is intended to guide the instrument in an RCM movement, where the orientations of the instrument (3) and its insertion / retraction in an operating field are permitted without creating trauma at the point of insertion.

[0045] The spherical guide module (2) is positioned in the vicinity of the insertion point by means of a manually adjustable mechanism and passive couplings which can be locked, for example by tightening screws, to maintain the desired configuration.

[0046] The instrument (3) can be selected from any automated instrument to perform the intended operation, in particular minimally invasive surgery. It is configured to be linked to the positioning modules (1) and the spherical guidance module (2).

[0047] [Fig. 2] The positioning module (1) comprises three translational degrees of freedom. A frame (4) is fixed to a mounting platform (100) supported, for example, by the telescopic table (110); the frame (4) comprises three rigid guides, two of which are parallel and the third perpendicular to the first two. The positioning module (1) comprises three closed kinematic chains, (L1), (L2), (L3), assembled both to the frame (4) and to each other.

[0048] The positioning module (1) allows a gripping element (17) configured to receive the instrument to be positioned and moved in space, the gripping element (17) being linked to the three kinematic chains (L1, L2, L3).

[0049] [Fig.3] the first kinematic chain (Ll) of the positioning module (1), is a planar mechanism with two active translational degrees of freedom, achieved by cylindrical couples (5) to the frame (4) with active translations and passive rotations.

[0050] The cylindrical pairs (5) are further articulated by means of passive rotary couplings with clevises (6), which are in turn articulated in their lower part by means of passive rotary couplings with connecting rods (7).

[0051] In addition, the connecting rods (7) are articulated with each other and with a platform (8) by means of a passive rotary coupling, thus forming a triangular mechanism.

[0052] The frame (4) also guides two passive couplings in translation (9) which are rigidly connected by a cross member (10).

[0053] The platform (8) is guided in translation on the cross member (10) by a passive connection. The assembly formed by the translational couplings (9), the cross member (10) and the platform (8) is intended to stiffen the mechanical structure of the positioning module (1).

[0054] Thus, returning to [Fig.2], the first kinematic chain (Ll) is a parallel kinematic chain for the movement of the platform (8) in a base plane (PI), fixed with respect to the mounting platform (100).

[0055] [Fig.4] the second kinematic chain (L2) of the positioning module (1) is a mechanism with two active translational degrees of freedom, connected to the cylindrical couples (5) which form with members (11) linked to the cylindrical couples (5) according to a passive rotational degree of freedom allowing free rotations relative to the cylindrical couples (5).

[0056] The two members (11) are linked in translation to the frame (4) by means of a sliding pivot joint in their lower part via the cylindrical couples (5) while maintaining passive rotational mobility with respect to the cylindrical couples (5), along an axis perpendicular to the translational guidance, and are articulated together in their upper part, in elevation relative to the base plane, by a passive rotary coupling having as its axis of rotation a cardan cross (12), thus forming a triangular configuration in an orientable plane (P2) intersecting the base plane (PI).

[0057] Thus the second kinematic chain (L2) is a parallel kinematic chain according to a triangular configuration, configured to evolve according to movements in an orientable plane (P2), secant to the base plane (PI) and pivotable with respect to the base plane around the cylindrical couples (5).

[0058] The cardan cross (12) assembles the second and third kinematic chains (L2) and (L3).

[0059] [Fig.5] The third kinematic chain (L3) of the positioning module (1) is a planar mechanism with two degrees of rotational mobility, one degree of active mobility and one degree of passive mobility which extends, [Fig.2] in a plane (P3) intersecting the orientable plane (P2) and the base plane (PI).

[0060] On the platform (8) is a flange (81, [Fig.3]) configured for the mounting of a rotary motor (13) which defines an active rotary coupling between the platform (8) and a mast (14).

[0061] The mast (14) is articulated with a rigid boom (15) by a passive rotary coupling whose axis is parallel to the active rotary coupling of the mast (14) with the platform (8).

[0062] The arrow (15) is in turn articulated with the cardan cross (12) along axes of rotation perpendicular to the rotary coupling between the members (11).

[0063] In addition, between the mast (14) and the boom (15) there is a passive elastic element, for example a spring (16) whose role is to compensate for the gravitational force, which keeps the mechanism in balance and allows its manual manipulation when the robot's motors are not powered.

[0064] The gripping element (17) of the instrument is connected to the universal joint (12). According to a first variant (5A), the gripping element (17i) is connected by a universal joint. passive relative to the members (11) and the boom (15). According to another embodiment (5B), the gripping element (172) is linked via a universal joint and includes a ball joint.

[0065] Thus, the three kinematic chains extend in intersecting planes (PI, P2, P3), the base plane being fixed, all the active links including an actuator being located substantially in the base plane (PI), namely, the two cylindrical pairs (5) in their active translational link vis-à-vis the frame and the motor (13) in its active rotational link between the mast and the platform (8).

[0066] These three active links allow the gripping element, which itself comprises its own passive degrees of freedom, to be moved and positioned in space. This positioning of the gripping element in space by the positioning module (1) corresponds to a positioning point (121) which is substantially the center of the gimbal cross (12) at the intersection of its axes.

[0067] [Fig-6] according to an example embodiment, the spherical guidance module (2) includes a rotary coupling – spherical coupling – spherical coupling mechanism, commonly referred to as RSS, fixed to the mounting platform (100) by a positioning device (30), which in this example may include arms configured in series with passive pivot joints between the arms. However, those skilled in the art understand that another manual positioning mechanism may be used.

[0068] According to an example embodiment (6A) spherical guide module (2) is a closed kinematic chain with spherical architecture and has two degrees of freedom for a spherical movement of type RCM, allowing two orientations around the insertion point and a translation for the insertion and retraction of the tool.

[0069] A rigid curved element (18) of the spherical guide module (2) is held in a fixed position relative to the mounting platform (100) by the positioning device (30).

[0070] According to one embodiment, a plurality of rigid curved elements (18a), (19a), (20a), (21), (22) are articulated together to form passive rotating couplings whose axes of rotation intersect at the spherical center of rotation (200) of the spherical mechanism, which center is substantially coincident with the point of insertion and a center of the RCM.

[0071] An end element (23) includes a bore for mounting the instrument. A rod of the instrument can be inserted into the bore of the element (23) in a sliding pivot connection with it.

[0072] According to another embodiment (6B), the spherical guide module (2) can use a 3R type series mechanism (rotary coupling - rotary coupling - rotary coupling) where the axes of the rotary couplings intersect at the point insertion. Thus, in the series version, a curved rigid element (18b) is linked to the positioning device (30); it is connected to the end element (23) by two other curved rigid elements (19b, 20b). Similarly, the axes of the pivot joints between the curved rigid elements intersect at the spherical center of rotation of the mechanism.

[0073] The spherical guidance module (2) may include encoders in the rotational couplings between the rigid curved elements and a linear encoder in the end element (23). Thus, the position of the instrument relative to the insertion point can be easily calculated and algorithms for calibrating the position of the robotic system relative to the patient can be implemented.

[0074] [Fig.7] The instrument (3) comprises an automated drive end (24), a rigid rod (25) and a motorized active end (26) capable of receiving tools, for example surgical scissors, surgical forceps, or other non-surgical effectors.

[0075] The rigid rod (25) of the instrument is linked to the positioning module (1) by the gripping element (17) and by the terminal element (23) to the spherical guidance module (2).

[0076] Mounting the rigid rod (25) in the end element (23) forms a passive translational coupling between the rigid rod (25) and the end element (23) to allow insertion and retraction of the instrument in the operating field.

[0077] Thus, the instrument (3) has three degrees of freedom in the RCM, two orientations and one translation for insertion and retraction when using a simple gimbal coupling for the gripping element (17i), or four degrees of freedom, three orientations and one translation when using a spherical coupling for the gripping element (172). The motorized active end (26) is actuated from the automated drive end (24).

[0078] The parallel robotic system with its three modules, the positioning module (1), the spherical guidance module (2) and the instrument (3) adapted for robot-assisted minimally invasive pancreatic surgery (3) operates as follows:

[0079] The gripping element (17) is positioned in space with three translations by the actuation of the three kinematic chains of the positioning module (1); the gripping element (17) has two degrees of freedom of passive orientations with respect to the gimbal cross (12), and if the rigid rod (25) of the instrument (3) is mounted only in the bore of the gripping element (17), the instrument (3) then has two uncontrolled degrees of freedom;

[0080] The rigid rod (25) of the instrument (3) is also introduced into the end element (23) of the spherical guidance module (2) having two passive degrees of freedom and an RCM-type movement, and therefore the movement of the instrument (3) when it is mounted in both the positioning module (1) and the spherical guidance module (2), is limited to three degrees of freedom controlled with respect to the RCM point, namely two orientations of the rigid rod (25) and one translation along the rigid rod (25) for the insertion and retraction of the instrument.

[0081] The actuation of the motorized active end (26) is carried out from the automated drive end (24).

[0082] The integration of the spherical guidance module (2) limits the movements of the instrument in the RCM movement, which is particularly desirable in robot-assisted minimally invasive surgery.

[0083] The spherical guidance module (2) is positioned so that the center of rotation of the RCM movement coincides with the point of insertion of the instrument in the operating field, and this positioning is achieved using a manual positioning mechanism.

[0084] In addition, a ball joint can be used for the grasping element (172), which adds a passive degree of freedom for the rotation of the instrument around the shaft; this embodiment may be advantageous when the instrument is handled manually, particularly by a surgeon in a collaborative setting, where the robotic system supports the weight of the instrument and constrains the RCM movement, and the surgeon handles the instrument manually.

[0085] The use of a spherical guidance module (2) comprising encoders: two encoders for rotation and one linear encoder, makes it easy to calculate the position of the surgical instrument relative to the point of insertion and, through kinematic calculations, to calibrate the robotic system by accurately determining the relative position between the three modules and the relative position between the robotic system and the patient.

[0086] The advantages of the parallel robotic system for minimally invasive pancreatic surgery are as follows:

[0087] increase the rigidity and positioning accuracy of the surgical instrument (3) by using two robotic modules for its manipulation, one for positioning (1) and the other for guidance (2);

[0088] increasing the rigidity and positioning accuracy of the surgical instrument (3) by using parallel structures with increased rigidity and a balanced distribution of static and inertial moments;

[0089] the improvement of the ergonomics of the minimally invasive pancreatic surgery procedure thanks to the rigidity and precision offered by the parallel robotic system proposed in the present invention;

[0090] increasing patient safety during the medical procedure by increasing the ergonomics of the procedure and thanks to the rigidity and precision offered by the parallel robotic system proposed in the present invention;

[0091] the modularity of the robotic system allowing it to be easily adapted to the needs of patients;

[0092] reducing the size of the robot, which has a significant impact on the layout of the operating room; and

[0093] modularity enabling collaborative human-robot manipulation.

[0094] The foregoing description and the embodiment examples show that the invention achieves the intended objectives. The parallel robotic system for minimally invasive pancreatic surgery has a modular structure based on parallel mechanisms that ensure high rigidity and precision in the manipulation of the surgical instrument. Thus, the parallel robotic system proposed in the present invention improves the ergonomics of the medical procedure and, implicitly, patient safety during the operation. Furthermore, the modularity of the parallel robotic system proposed in the present invention allows it to be easily adapted to different patients.

Claims

Demands

1. A parallel robotic system comprising: an instrument (3) manipulable by a positioning module (l), a spherical guidance module (2) with two passive degrees of freedom configured to constrain the orientation movements of the instrument (3) around an insertion point in an operating field, the positioning module comprising three kinematic chains (L1, L2, L3) extending in intersecting planes (PI, P2, P3) and linked together, in which a first kinematic chain (L1) extends in a fixed base plane (PI), a second kinematic chain (L2) extends in a steerable plane (P2) intersecting the base plane (PI) and pivotable relative to the base plane, a third kinematic chain (L3) extends in a third plane (P3) intersecting the base plane (PI) and the steerable plane (P2), the first kinematic chain comprising three active translational degrees of freedom in the plane basic.

2. System according to claim 1, wherein the second kinematic chain (L2) is linked to the third kinematic chain (L3) by a passive link around a positioning point (121) in elevation relative to the base plane.

3. System according to claim 2, wherein the first kinematic chain (L1) is linked to a frame (4) fixed relative to a mounting platform (100) and comprises a planar mechanism including two active translations relative to the frame (4) and passive links by passive couplings (9) relative to the frame (4) configured to guide a platform (8) in a planar Cartesian motion.

4. System according to claim 3, wherein the active translations are achieved by cylindrical pairs (5) linked to the frame (4) by a sliding pivot joint active in translation and wherein the cylindrical pairs (5) are further linked to the platform (8) by a pair of connecting rods (7) in a triangular configuration with pivot joints at their ends along axes perpendicular to the pivot joint active in translation with on the one hand the cylindrical pairs (5) and on the other hand the platform (8).

5. System according to claim 4, wherein the second kinematic chain (L2) is linked to the cylindrical pairs (5) by a first passive pivot joint of the active sliding pivot joint in translation of the cylindrical couples (5), configured to orient the orientable plane (P2) relative to the fixed plane (PI).

6. System according to claim 5, wherein the second kinematic chain (L2) comprises two members (11) each linked by second passive pivot joints with axis perpendicular to that of the first passive pivot joint to the cylindrical pairs (5), the two members (11) being linked to each other at one of their ends in elevation relative to the base plane (PI) by a cardan cross (12), the two members being arranged in a triangular configuration.

7. System according to claim 6, wherein the third kinematic chain (L3) comprises a mast (14) connected at one end to the platform (8) by an active pivot joint (81, 13) and at another end in elevation relative to the base plane by a passive pivot joint to one end of a boom (15) the other end of the boom being connected to the gimbal cross (12).

8. System according to claim 7, comprising an elastic element (16) extending between the mast (14) and the boom (15) and configured to compensate for a gravitational force.

9. System according to claim 2, wherein a gripping element (17) is linked to the positioning point (121) of the positioning module (1) by a passive link.

10. System according to claim 9, wherein the instrument (3) is linked to the gripping element (17i) by a passive linkage comprising two degrees of rotational freedom relative to the positioning point (121).

11. System according to claim 9, wherein the instrument (3) is linked to the gripping element (172) by a passive linkage comprising three degrees of rotational freedom relative to the positioning point (121).

12. System according to claim 3, comprising a positioning device (30) connected at one end to the mounting platform (100) and at the other end to the spherical guide module (2) by a passive pivot joint.

13. System according to claim 12, wherein the spherical guidance module (2) comprises an end element (23) configured to be passively linked by a sliding pivot joint with the instrument (3).

14. System according to claim 12, wherein the spherical guide module (2) comprises a plurality of rigid curved elements (18a), (19a), (20a), (21), (22) articulated together by passive pivot links in a parallel architecture, the axes of these passive pivot links between the rigid curved elements intersecting at a spherical center of rotation (200) of the spherical guide module (2).

15. System according to claim 12, wherein the spherical guide module (2) comprises a plurality of rigid curved elements (18b), (19b), (20b), articulated together by passive pivot links according to a series architecture, the axes of these passive links between the rigid curved elements intersecting at a spherical center of rotation (200) of the spherical guide module (2).

16. System according to any one of the preceding claims, wherein the instrument (3) is a surgical instrument and the system is configured for minimally invasive pancreatic surgery.

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