Session: MR-06-01 - Medical and Rehabilitation Robotics

Paper Number: 89968

89968 - Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery 

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, the reduced visibility of the incision, this being camouflaged in the umbilicus to which is added the high safety of the patient. The paper proposes a new robot, called PARA-SILSROB, based on a parallel architecture to be used within a master-slave robotic system, to position and orient a mobile platform on which the laparoscope and SILS instruments are located. The robot is used to guide mainly the laparoscope, while the SILS instruments are to be guided using specific mechanisms. The paper focuses on the development of the inverse kinematics, where an analytical solution has been determined, on the preliminary design and the robot’s integration into the medical environment. The robot workspace is generated and analyzed for various orientations of the laparoscope, to determine the best configuration and properly select the remote Center of Motion. A motion simulation using a real case scenario has been performed using MATLAB and the results have been validated using Siemens NX. Finally, a robot control architecture is proposed, using the Omega.7 haptic device.

Presenting Author: Doina Pisla CESTER, Technical University of Cluj-Napoca

Presenting Author Biography: Prof. Doina Pisla has founded CESTER in 2001 and she is currently the director of CESTER, a research excellence center with high visibility that published results in highly regarded scientific journals (e.g. Robotics and CIM, Mechanism and Machine Theory, Int. J. of Production Research, Robotica, IEEE Access).<br/><br/>Prof. Doina Pisla coordinated 11 PhD (two in international co-supervision) and 8 more students are in different stages of their doctoral studies (one in international co-supervision); she participated as member in examination committees in more than 30 PhD theses in Romania and Europe.<br/><br/>Prof. Doina Pisla is involved (as project manager, deputy manager or key member) in over 50 national and international research projects. In the last 10 years alone Prof. Doina Pisla managed to attract over 4.000.000 EUR for research activities (through national and international funding sources).<br/><br/>Prof. Doina Pisla was invited at multiple prestigious international conferences as a keynote speaker, she was chair or member of scientific committee in prestigious international conferences and she was cofounder of the International Workshop in Medical and Service Robots (MESROB)

Authors:

Doina Pisla CESTER, Technical University of Cluj-Napoca
Bogdan Gherman CESTER, Technical University of Cluj-Napoca, Romania
Paul Tucan CESTER, Technical University of Cluj-Napoca
Iosif Birlescu CESTER, Technical University of Cluj-Napoca
Alexandru Pusca CESTER, Technical University of Cluj-Napoca
Gabriela Rus CESTER, Technical University of Cluj-Napoca
Adrian Pisla CESTER, Technical University of Cluj-Napoca
Calin Vaida CESTER, Technical University of Cluj-Napoca