Single Incision Laparoscopic Surgery has become a self-standing approach within the minimally invasive surgery techniques due to its ability of reduced trauma and the almost invisible marks on the patient’s body when achieved using as insertion port the umbilicus. The very tight available space to perform the surgery imposes a significant challenge for the developers of tools and devices to serve this type of intervention. The paper addresses the development of a robotic system for SILS, based on the master-slave architecture. The slave robotic system architecture is defined to fit the requirements of the targeted surgical approach. The kinematics is analyzed and prepared for implementation in the control considering that the master system is an Omega 7 haptic device. Based on a proposed algorithm, an optimization process of the main geometric elements of the robotic system is provided, considering the required workspace and the collision free mechanical configurations of the robot. Genetic algorithms are used to yield the optimal values for the selected parameters, which will be further considered in the design of the robotic system.


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    Title :

    On the Kinematics and Dimensional Optimization of a Robotic System for Single Incision Laparoscopic Surgery


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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