An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot

The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches are studied for the kinematic functions using both classical differentiation and multidual algebra. The algorithms for inverse kinematics for all three studied formalisms are presented for both differentiation and multidual algebra approaches. Furthermore, these algorithms are compared based on numerical stability, execution times and number and type of mathematical functions and operators contained in each algorithm. A statistical analysis shows that there is significant improvement in execution time for the algorithms implemented using multidual algebra, while the numerical stability is appropriate for all algorithms derived based on differentiation and multidual algebra. While the implementation of the kinematic algorithms using multidual algebra shows positive results when benchmarked on a standard PC, further work is required to evaluate the multidual algorithms on hardware/software used for the modular parallel robot command and control.

An innovative mixed reality approach for Robotics Surgery

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor visualization and perception of the surgical field. The goal of this paper is to provide an innovative approach concerning an application able to improve the surgical procedures offering assistance in both preplanning and intraoperative steps of the surgery. The system has been designed to offer a better understanding of the patient through techniques that provide medical images visualization, 3D anatomical structures perception and robotic planning. The application was designed to be intuitive and user friendly, providing an augmented reality experience through the Hololens 2 device. It was tested in laboratory conditions, yielding positive results.

The control architecture of a spherical robot for Minimally Invasive Surgery

Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and thoracic regions. The proposed control system, employing the master-slave concept, is presented alongside the experimental model. Functional validation is obtained by performing a Siemens NX simulation and comparing the results with several experimental runs using the experimental model of the robot. With its compact size and stiffness, the system holds promise for integration with other robotic systems. Future efforts will be dedicated to exploring and optimizing this potential collaboration to enhance the overall capabilities of robotic-assisted surgery.

Kinematic analysis of a parallel robot for minimally invasive surgery

The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increase the surgical procedure safety, a closed form solution for the kinematic model is derived and then, the forward and inverse kinematic models for the mobile orientation platform are obtained. The kinematic models are used in numerical simulations for the reorientation of the endoscopic camera, which imposes an automated compensatory motion from the active instruments' mod-ules.

Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures

The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate innovative technologies into the teleoperation process to enhance workflow during surgeries. The proposed system incorporates a collaborative robot, Kuka IIWA LBR, and Hololens 2 (an augmented reality device), allowing the user to control the robot in an expansive environment that integrates actual (real data) with additional digital information imported via Hololens 2. Experimental data demonstrate the user's ability to control the Kuka IIWA using various gestures to position it with respect to real or digital objects. Thus, this system offers a novel solution to manipulate robots used in surgeries in a more intuitive manner, contributing to the reduction of the learning curve for surgeons. Calibration and testing in multiple scenarios demonstrate the efficiency of the system in providing seamless movements.