A new teleoperated robotic system for minimally invasive surgery : Modeling and identification

This article presents the design of a new teleoperated robotic system for helping surgeons in performing minimally invasive surgical procedures. The robot was developed at the PPRIME Institute in the ROBIOSS team from Poitiers University. The system is designed for collaborative operation between the surgeon and the robot. In addition, it has the following attributes: a workspace fitted to a real medical gesture, a quick interchangeability tools and an adaptation to all kind of commercial instruments. The proposed teleoperated system is installed on two sites, master and slave. The proposed approach is based on motion capture of an expert gestures performing an anastomosis technique. The evaluation of the workspace is based on the use of the Vicon Nexus motion capture system. The medical gestures were analyzed in term of position and velocities; the result has been used in the definition of the kinematics specifications of the proposed robotic system. The actuators of the slave robot has been designed to meet the rapid gestures of the surgeon.