Answers are grounded in this paper and cite their sources.
Experimental validation demonstrates enhanced flexibility and accuracy of a new robotic instrument in surgery, suggesting improvements in patient outcomes.
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{}) and OptiTrack motion capture (MAE 1.43{}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.
No takes yet. Share an insight, caveat, or question.
Pîslă et al. (2026) studied this question.
Synapse has enriched 8 closely related papers on similar clinical questions. Consider them for comparative context: