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.

Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experi-mentally determined by moving (repeatedly) the robot platform in predefined points.

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.