Search papers, labs, and topics across Lattice.
This paper presents a novel 4-DOF flexible laparoscopic surgical instrument with distal bending, independent distal head rotation, shaft rotation, and a gripper, all within a 10mm diameter. The control architecture, implemented on a Raspberry Pi 5, utilizes a SpaceMouse for teleoperation and Motoron controllers for actuation. Validation includes analytical modeling of the scissor-linkage mechanism, showing good agreement with CAD and motion capture data, and a simulated pancreatic surgery procedure demonstrating integration with the ATHENA parallel robot.
A new surgical instrument combines 4 degrees of freedom with a slim 10mm profile, promising greater dexterity in minimally invasive procedures.
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.
