Preliminary control design of a Single-Incision Laparoscopic Surgery Robotic System

摘要

This paper presents some preliminary considerations in the control design of an innovative robotic system for Single Incision Laparoscopic Surgery (SILS). The particularities of this type of minimally invasive surgery are detailed with emphasis on the use of the medical instruments which are the tools that interact directly with the patient body. A conceptual architecture for the active instruments and their manipulation strategy is defined aiming to increase their dexterity and workspace in confined spaces. The architecture of the system, with emphasis on the control solution is presented as a three levels structure. The control architecture respects the “zero autonomy” principle imposed by the latest standards in surgical robotics, to ensure the safety of the patient, with respect to any automatic decision a device might act upon.