Electronic Control Concept for Surgical Manipulators Generated Using an Automated Design Process

Abstract

Since minimally invasive surgery is characterized by a high benefit for the patient, new instruments and techniques are needed to support the surgeon in the demanding surgical procedures. With our 3D-printed Single Port Overtube manipulator system (SPOT) that is designed for the use with standard endoscopic instruments, we develop a customizable disposable manipulator system for minimally invasive surgery. For the individualized system we want to provide a purely mechanical control concept as well as an electronic control concept for the actuation of monolithic manipulator arms. While the mechanical control concept had already been evaluated in an earlier work with positive and promising results, an electronic control concept that can be adapted to individual manipulator structures has not yet been implemented. In this paper we present the electrical control concept that is integrated into the automated design process for the manipulator systems. We describe the concept with its adaptable components and show a first evaluation of the functionality of the system.