The purpose of this project was to develop a novel design for the laparoscope robotic arm in which while the systems controllability (moving up/down, left/right and zooming in/out) is maintained its active degrees of freedom are reduced.

The design constraints and variables of the system were studied in detail. While the lens of the laparoscope might be able to rotate along its longitudinal axis, the rotation of the camera should be fixed in order to save the view orientation. Four novel mechanisms were introduced. It was found that the last mechanism can well fulfill the functional requirements of the system by means of only 3 actuators (instead of 4); this is a major advantage considering the cost and maintenance issues of the system when employed in clinical practice. The size synthesis and manipulability measurement of the robot also provided satisfactory results.

Finally the robot has been constructed in Robotic Surgery Lab. In the Imam Khomeini Hospital and passed technical and clinical test on real patients.

A. Mirbagheri ,  F. Farahmand,  A. Meghdari

Clinical Collaborator: F. Karimiyan, K. Toolabi

Technical test (3.44 MB)

  A human colecystectomy by Robolens  (1.86 MB)

Robolens Complete Test  (12.6 MB)