Control Architecture and experimental validation of a Novel Surgical Robotic Instrument

Doina Pisla; Ionut Zima; Calin Vaida; Andrei Cailean; Marius Miclaus; Adrian Pisla; Andrei Caprariu; Vasile Bulbucan; Bogdan Gherman; Damien Chablat

arXiv · 2604.05610

Control Architecture and experimental validation of a Novel Surgical Robotic Instrument

Doina Pisla·Ionut Zima·Calin Vaida·Andrei Cailean·Marius Miclaus·Adrian Pisla·Andrei Caprariu·Vasile Bulbucan·Bogdan Gherman·Damien Chablat

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Abstract

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{\textdegree}) and OptiTrack motion capture (MAE 1.43{\textdegree}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.

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Doina Pisla, Ionut Zima, Calin Vaida, Andrei Cailean, Marius Miclaus, Adrian Pisla, Andrei Caprariu, Vasile Bulbucan, Bogdan Gherman, Damien Chablat. 2026-04-07. Control Architecture and experimental validation of a Novel Surgical Robotic Instrument. https://arxiv.org/abs/2604.05610

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