Laparoscopic Assistive Robotic Manipulator (LapARM): Mechanical Design and Contactless Interface for Oblique-Viewing Scope Maneuvers

Abstract

This study introduces the Laparoscopic Assistive Robotic Manipulator (LapARM), designed to address limitations in current robotic laparoscope holders. LapARM features a compact 4-degree-of-freedom (4-DoF) design achieved through parallel and telescopic mechanisms, synthesized to navigate spatial interference challenges with the human surgeon during surgical operations. Additionally, it improves image stability when zooming with an oblique-viewing scope by developing a custom laparoscope integrated with an embedded distance sensor, allowing the LapARM to dynamically adjust the scope’s orientation during zooming, ensuring that the imaged object remains centered in the image throughout the zooming process. Furthermore, an eye tracker provides surgeons with a contactless interface for intuitive solo control of the laparoscope via head movements. Experimental results validate LapARM’s effective scope maneuvering for laparoscopic procedures. User studies show that its head movement-based control significantly reduces completion time and user workload, contributing to the success of minimally invasive surgeries.