Problem
Research questions and friction points this paper is trying to address.
minimally invasive surgery
laparoscopic instruments
range of motion
surgical robotics
instrument flexibility
Control Architecture and experimental validation of a Novel Surgical Robotic Instrument
🤖 AI Summary
This study addresses the limited degrees of freedom (DoF) in conventional laparoscopic instruments, which hinder the dexterity required for minimally invasive surgery. To overcome this, the authors propose a 10-mm-diameter, four-DoF flexible laparoscopic instrument that integrates distal bending, independent end-effector rotation, axial rotation, and grasping capabilities, while remaining compatible with standard trocars and enabling high-precision motion control. The system employs a Raspberry Pi 5 and Motoron motor controller within a teleoperation architecture, interfaced with a SpaceMouse input device and an OptiTrack motion capture system. An analytical scissor-linkage model is developed to enhance control accuracy. Experimental validation demonstrates a mean absolute error of 0.13° between predicted jaw angles and CAD-based measurements, and 1.43° against OptiTrack ground-truth data. The instrument’s efficacy is further confirmed through successful simulation of pancreatic surgical tasks on the ATHENA parallel robot platform.
📝 Abstract
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF flexible laparoscopic instrument integrating distal bending, independent distal head rotation, shaft rotation, and a gripper, while maintaining a 10 mm diameter compatible with standard trocars. The actuation unit and SpaceMouse teleoperation are implemented on Raspberry Pi 5 with Motoron controllers. An analytical scissor-linkage model is derived and parameterized. The predicted jaw opening corresponds to CAD measurements (MAE 0.13{\textdegree}) and OptiTrack motion capture (MAE 1.43{\textdegree}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.
Innovation
Methods, ideas, or system contributions that make the work stand out.
surgical robotics
4-DOF laparoscopic instrument
teleoperation
analytical kinematic model
embedded control architecture
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