Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery

Abstract

Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot control system architecture of PARA-SILSROB. A CAD motion simulation validates the mathematical model using Siemens NX.

Artificial Intelligence-Based Hazard Detection in Robotic-Assisted Single-Incision Oncologic Surgery

“…An innovative modular robotic system ( Figure 5 a) for SILS was proposed by the authors of [ 30 ]. It consists of several modules: a 6-DOF (degrees of freedom) parallel structure, presented in Figure 5 b, which manipulates a mobile platform ( Figure 5 c), on which a 1-DOF module located in the center of the platform is used for endoscopic camera insertion, and two 3-DOF modules are located on the sides of the central one, which achieve the orientation and insertion of the active surgical instruments.…”

“…Summarizing the detailed description of the robotic system in [ 30 , 31 , 32 ], the motions of the robot can be described as follows: Motions outside the body: The 6-DOF parallel robot positions and orients the mobile platform carrying the instruments, aiming to move the tips of the three instruments over the insertion points in the body (using any model of a SILS port). The active instruments’ modules will orient the active instruments’ tips to ensure that the distance between their tips and the tip of the endoscopic camera is consistent with the SILS port.…”

“…It consists of several modules: a 6-DOF (degrees of freedom) parallel structure, presented in Figure 5b, which manipulates a mobile platform (Figure 5c), on which a 1-DOF module located in the center of the platform is used for endoscopic camera insertion, and two 3-DOF modules are located on the sides of the central one, which achieve the orientation and insertion of the active surgical instruments. Summarizing the detailed description of the robotic system in [30][31][32], the motions of the robot can be described as follows:…”

“…(b) Instruments' insertion into the body: The instruments' modules will insert the instruments based on predefined depths on linear trajectories. In this step, restrictions are applied onto the robotic system, as follows: (1) The 6-DOF parallel robot will register the insertion point coordinates of the endoscopic camera, which will be used as a fixed point in the robot workspace from this moment on until the instruments will Summarizing the detailed description of the robotic system in [30][31][32], the motions of the robot can be described as follows:…”

Development of an augmented reality simulator for a robotic system used in single incision laparoscopic surgery

“…Despite the specific advantages of SILS, this procedure presents a series of drawbacks which could not been neglected such as the incommode position of the surgeon during the operation (above the patient), low dexterity and precision, hand tremor [11] or the limitation of the range of motion since the active instruments and the endoscopic camera are situated in the same port [12]. To offer a solution for these weaknesses, robotic systems for SILS were developed.…”