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| Main Authors: | , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.05610 |
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| _version_ | 1866911571955941376 |
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| author | Pisla, Doina Zima, Ionut Vaida, Calin Cailean, Andrei Miclaus, Marius Pisla, Adrian Caprariu, Andrei Bulbucan, Vasile Gherman, Bogdan Chablat, Damien |
| author_facet | Pisla, Doina Zima, Ionut Vaida, Calin Cailean, Andrei Miclaus, Marius Pisla, Adrian Caprariu, Andrei Bulbucan, Vasile Gherman, Bogdan Chablat, Damien |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_05610 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Control Architecture and experimental validation of a Novel Surgical Robotic Instrument Pisla, Doina Zima, Ionut Vaida, Calin Cailean, Andrei Miclaus, Marius Pisla, Adrian Caprariu, Andrei Bulbucan, Vasile Gherman, Bogdan Chablat, Damien Robotics 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. |
| title | Control Architecture and experimental validation of a Novel Surgical Robotic Instrument |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.05610 |