Control Architecture and experimental validation of a Novel Surgical Robotic Instrument

• URL: http://arxiv.org/abs/2604.05610v1
• Date: Tue, 07 Apr 2026 09:00:59 GMT
• Title: Control Architecture and experimental validation of a Novel Surgical Robotic Instrument
• Abstract summary: Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time.<n> conventional laparoscopic instruments remain constrained by limited range of movements.<n>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.
• Score: 0.7078141380481605
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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