Analysis and Preliminary Design of a New Parallel Robot for SILS

This paper aims to present a new robotic structure for Single Incision Laparoscopic Surgery (SILS). A short introduction into the SILS procedure is presented, followed by a definition of the requirements of a robotic structure for SILS based on the medical protocol for the surgical procedure. A simp...

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Bibliographic Details
Published in2022 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) pp. 1 - 6
Main Authors Ulinici, Ionut-Mihai, Crisan, Nicolae, Vaida, Calin, Andras, Iulia, Pisla, Doina
Format Conference Proceeding
LanguageEnglish
Published IEEE 19.05.2022
Subjects
Analytical models
CAD model
conceptual design
Kinematics
laparoscopic surgery
Main-secondary
Mathematical models
parallel robot
Parallel robots
SILS
Solid modeling
Task analysis
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Summary:This paper aims to present a new robotic structure for Single Incision Laparoscopic Surgery (SILS). A short introduction into the SILS procedure is presented, followed by a definition of the requirements of a robotic structure for SILS based on the medical protocol for the surgical procedure. A simplified CAD model of a novel design for a modular parallel robotic structure is presented along with a detailing of its kinematic chains and the functionality of the robotic structure capable of achieving the motion particularities of a single-port surgical procedure, furthermore a conceptual control scheme based on the master-slave concept for this robotic structure is presented.
DOI:10.1109/AQTR55203.2022.9801936