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Introduction <p>Surgical capability in space is constrained by extreme conditions such as microgravity, communication latency, surgical training, and limited resources. Current robotic training platforms are optimized for terrestrial use. The objective is to explore The SETY© platform, developed under the SY-MIS program, designed as a compact and accessible mechatronic surgical platform for minimally invasive procedures with emphasis on operational feasibility in resource-limited and early robotic training exposure to prepare future surgeons for extreme and spaceflight conditions. The final goal is to overcome some barriers for surgeons in their initial phases of training such as earlier exposure to a robotic platform, limited training lab availability, portability issues, on demand practice, affordability of robotic platform, and improving overall surgical proficiency and patient care.</p> Design, setting, and participants <p>This experimental feasibility study (2022–2024) involved the SETY© system in terrestrial analog environments simulating microgravity constraints. The system incorporated ergonomic considerations, low-cost components, and an open-source control architecture to enhance accessibility for academic and clinical training. The platform consisted of dual articulated robotic arms mounted on a compact 400 × 500&#xa0;mm base, driven by servomechanism motors via a curved rail mechanism. Structural components were produced using 3D-printed PLA and validated via finite element analysis. The electrical system employed an ESP32 microcontroller for console input and an Arduino Nano for arm control, enabling real-time coordination of eight servomotors through potentiometer and joystick inputs. Primary platform outcomes were mechanical stability, kinematic precision (velocity and torque control), synchronization between console and arms, and robustness under repetitive cycles. Secondary platforms outcomes included compactness, energy efficiency, and feasibility for integration into training curricula.</p> Results <p>Finite element analysis confirmed a maximum Von Mises stress of 0.482&#xa0;MPa and minimal deformation (0.0007&#xa0;mm), yielding a safety factor of 15. The system maintained joint velocities below 10°/s and torques under 10&#xa0;N·m. Simulation with sinusoidal inputs showed stable motion patterns, velocity peaks at ± 4°/s, torque oscillations around ± 0.05&#xa0;N·m, and acceleration up to 1500°/s². Electrical integration achieved smooth real-time synchronization without predictive filtering, although the absence of ROS-based frameworks reduced interoperability and limited integration with higher-level control systems. Minor mechanical tolerances and sensor variance were observed but did not compromise functionality.</p> Conclusions <p>The SETY© platform demonstrated mechanical robustness, precise motion control, and functional reliability within a compact, energy-efficient design. Its low-cost, open-source configuration supports adoption in surgical and medical engineering education and has potential applicability for space mission surgical preparedness. Future refinements should optimize mechanical damping and material stiffness to enhance performance under high-load or rapid-maneuver conditions.</p>

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SETY©: A next-generation robotic training platform for safe and autonomous surgery in space — surgical biomechatronics design and Hardware-Software integration within the SY-MIS project

  • 期刊论文

  • 发表日期：

    2025年11月22日

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  • Jose Cornejo,
  • Bernabé Oscco,
  • Luis Gamarra-Vásquez,
  • Jose Mayorga,
  • Gabriel Tejada-Marroquin,
  • Victor Cuyotupac,
  • José Curioso,
  • Jorge Castro,
  • Jairo Sánchez Acuña,
  • Martín Cangahuala-Navarro,
  • Gustavo Huaraz,
  • Adrian Nacarino,
  • Mathias Reategui,
  • David Allcca,
  • Ronaldo Cornejo,
  • Ricardo Palomares,
  • Mariela Vargas,
  • Jorge Cornejo,
  • Leslie M. Mendoza-Arias,
  • Renzo R. Maldonado-Gómez,
  • Daira De La Barra,
  • Sandra Charapaqui,
  • Renzo Charapaqui,
  • Bryan Sanchez,
  • Anderson La-Rosa,
  • Raul Sebastian,
  • Rafael J. Grossmann,
  • Adel Abou-Mrad,
  • Adolfo Perez-Bonet,
  • Luigi Marano,
  • Aman Goyal,
  • Christian A. Macias,
  • Rodolfo J. Oviedo

摘要

Introduction

Surgical capability in space is constrained by extreme conditions such as microgravity, communication latency, surgical training, and limited resources. Current robotic training platforms are optimized for terrestrial use. The objective is to explore The SETY© platform, developed under the SY-MIS program, designed as a compact and accessible mechatronic surgical platform for minimally invasive procedures with emphasis on operational feasibility in resource-limited and early robotic training exposure to prepare future surgeons for extreme and spaceflight conditions. The final goal is to overcome some barriers for surgeons in their initial phases of training such as earlier exposure to a robotic platform, limited training lab availability, portability issues, on demand practice, affordability of robotic platform, and improving overall surgical proficiency and patient care.

Design, setting, and participants

This experimental feasibility study (2022–2024) involved the SETY© system in terrestrial analog environments simulating microgravity constraints. The system incorporated ergonomic considerations, low-cost components, and an open-source control architecture to enhance accessibility for academic and clinical training. The platform consisted of dual articulated robotic arms mounted on a compact 400 × 500 mm base, driven by servomechanism motors via a curved rail mechanism. Structural components were produced using 3D-printed PLA and validated via finite element analysis. The electrical system employed an ESP32 microcontroller for console input and an Arduino Nano for arm control, enabling real-time coordination of eight servomotors through potentiometer and joystick inputs. Primary platform outcomes were mechanical stability, kinematic precision (velocity and torque control), synchronization between console and arms, and robustness under repetitive cycles. Secondary platforms outcomes included compactness, energy efficiency, and feasibility for integration into training curricula.

Results

Finite element analysis confirmed a maximum Von Mises stress of 0.482 MPa and minimal deformation (0.0007 mm), yielding a safety factor of 15. The system maintained joint velocities below 10°/s and torques under 10 N·m. Simulation with sinusoidal inputs showed stable motion patterns, velocity peaks at ± 4°/s, torque oscillations around ± 0.05 N·m, and acceleration up to 1500°/s². Electrical integration achieved smooth real-time synchronization without predictive filtering, although the absence of ROS-based frameworks reduced interoperability and limited integration with higher-level control systems. Minor mechanical tolerances and sensor variance were observed but did not compromise functionality.

Conclusions

The SETY© platform demonstrated mechanical robustness, precise motion control, and functional reliability within a compact, energy-efficient design. Its low-cost, open-source configuration supports adoption in surgical and medical engineering education and has potential applicability for space mission surgical preparedness. Future refinements should optimize mechanical damping and material stiffness to enhance performance under high-load or rapid-maneuver conditions.