The control architecture of a spherical robot for Minimally Invasive Surgery

TL;DR

This paper introduces a modular control architecture for a spherical surgical robot, validated through simulations and experiments, aiming to improve precision and safety in minimally invasive surgery.

Contribution

It presents a novel, modular control system for a spherical MIS robot, compatible with various procedures and validated through simulations and experimental testing.

Findings

Successful simulation and experimental validation of the control system

Potential for integration with other robotic surgical systems

Compact and stiff design suitable for MIS applications

Abstract

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.