Doina PISLA, Iulia ANDRAS, Calin VAIDA, Nicolae CRISAN, Ionut ULINICI, Iosif BIRLESCU, Nicolae PLITEA


The paper presents a new approach concerning a new hybrid robotic system for Single Incision Laparoscopic Surgery (SILS). The main characteristics of the proposed robotic solution are defined based on a critical analysis of the current achievements in robotic surgery and the specific ergonomic limitations in SILS. The proposed hybrid solution has a master-slave architecture. The surgeon master console uses twin haptic devices for surgical instrument manipulation and Augmented Reality (AR) tools, whereas the slave hybrid robotic system uses a KUKA iiwa LBR collaborative robot in combination with independent orientation modules for the active instrument guidance. Several kinematic solutions are presented for the orientation module, together with their structural analysis. Furthermore, the integration of the hybrid solution in the Operation Room (OR) is also presented, highlighting its ergonomics.

Full Text:



Rao, Prashanth, P., Rao, Pradeep, P., Bhagwat., S. Single-incision laparoscopic surgery - current status and controversies, J Minim Access Surg., 7, 1, 6-17, 2011.

Sugimoto, M., K., Tanaka, Matsuoka, Y., et al. da Vinci robotic single-incision cholecystectomy and hepatectomy using single-channel GelPort access, J Hepatobiliary Pancreat Sci, 18, 493-498, 2011.

Kwang, H.K., Wan, S., Hana, Y., Dong, H. L. Single-port robot-assisted radical prostatectomy with the da Vinci SP system: A single surgeon’s experience, Investig Clin Urol., 61, 2, 173-179, 2020.

Hyun, J.S., Hae, K.Y., Jung, H.L. Robotic single-port surgery using the da Vinci SP® surgical system for benign gynecologic disease: A preliminary report, Taiwanese Jour. of Obstetrics and Gynecology, 59, 2, 243-247, 2020.

Seeliger, B., Diana, M., Ruurda, J.P., et al. Enabling single-site laparoscopy: the SPORT platform, Surg. Endosc., 33, 11, 3696-3703, 2019.

Hoeckelmann, M., Rudas, I.J., Fiorini, P., et al. Current Capabilities and Development Potential in Surgical Robotics, Int. J. of Advanced Robotic Systems, 12, 2015.

Cianci, S., Rosati, A., Rumolo, V., et al. Robotic Single-Port Platform in General, Urologic, and Gynecologic Surgeries: A Systematic Review of the Literature and Meta-analysis, World J Surg, 43, 10, 2401-2419, 2019.

Kanji F, Catchpole K, Choi E, et. al: Work-system interventions in robotic-assisted surgery: a systematic review exploring the gap between challenges and solutions. Surg Endosc. 2021 Jan 4. PMID: 33398585.

Vaida, C., Pisla, D., Plitea, N., Gherman, B., Gyurka, B., Graur, F., Vlad, L. Development of a Voice Controlled Surgical Robot. New Trends in Mechanism Science, 2010, 5: 567-74

D. Pisla, B. Gherman, C. Vaida and N. Plitea, Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery, Robotica, (2012), 30(07), 1095-1107

Elli E, Gonzalez-Heredia R, Sarvepalli S, Masrur M. Laparoscopic and robotic sleeve gastrectomy: short- and long-term results. Obes Surg. 2015 Jun;25, PMID: 25417069.

Hagen ME, Balaphas A, Podetta M, Rohner P, Jung MK, Buchs NC, Buehler L, Mendoza JM, Morel P. Robotic single-site versus multiport laparoscopic cholecystectomy: a case-matched analysis of short- and long-term costs. Surg Endosc. 2018 Mar;32(3):1550-1555.

Corrado G, Cutillo G, Mancini E, et. al: Robotic single site versus robotic multiport hysterectomy in early endometrial cancer: a case control study. J Gynecol Oncol. 2016 Jul; PMCID: PMC4864515.

Lopez S, Mulla ZD, Hernandez L, Garza DM, Payne TN, Farnam RW. A Comparison of Outcomes Between Robotic-Assisted, Single-Site Laparoscopy Versus Laparoendoscopic Single Site for Benign Hysterectomy. J Minim Invasive Gynecol. 2016 Jan; PMID: 26321172.

Kaouk JH, Palmer JS. Single-port laparoscopic surgery: initial experience in children for varicocelectomy. BJU Int. 2008 Jul; PMID: 18325060.

Bowen DK, Van Batavia JP, Srinivasan AK. Single-Site Laparoscopy and Robotic Surgery in Pediatric Urology. Curr Urol Rep. 2018 Apr 17 PMID: 29667065.

Peters CA. Robotic pyeloplasty--the new standard of care? J Urol. 2008 Oct; PMID: 18707738.

Maurice MJ, Kaouk JH. Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system. BJU Int. 2017 Dec; PMID: 28670865.

Dobbs RW, Halgrimson WR, Talamini S, Vigneswaran HT, Wilson JO, Crivellaro S. Single-port robotic surgery: the next generation of minimally invasive urology. World J Urol. 2020 Apr; PMID: 31463560.

Plitea, N,. Hesselbach, J., Pisla, D, et. al: Innovative Development of Parallel Robots and Microrobots, Acta Technica Napocensis, Series: Applied Mathematics and Mechanics, Technical University of Cluj-Napoca, 5, 49, 15-26, 2006.

Taylor, R.H., Funda, J., Eldridge, B., et al. Telerobotic Assistant for Laparoscopic Surgery, IEEE Eng. Med. Biol., 14, 279–287, 1995.

Vaida, C., Gherman, B., Pislă, D., Plitea, N. A CT-Scan Compatible Robotic Device for Needle Placement In Medical Applications, Advanced Engineering Forum, 8-9, 574-583, 2013.

Liqin, Z., Huitan, M., Xiang L., Jing, X. Determining null-space motion to satisfy both task constraints and obstacle avoidance, 2016 IEEE International Symposium on Assembly and Manufacturing (ISAM), 112-119, 2016.

Levin, A., Klimov, D., Nechunaev, et. al: The comparison of the process of manual and robotic positioning of the electrode performing radiofrequency ablation under the control of a surgical navigation system. Sci Rep. 10, 1, 8612, 2020

Vaida, C., Plitea, N., Pisla, D., Gherman, B. Orientation module for surgical instruments—a systematical approach, Meccanica, 48, 145–158, 2013

Vaida, C., Pisla, D., Plitea, N., et. al: Development of a control system for a parallel robot used in minimally invasive surgery, IFMBE Proceedings, 26, 171-176, 2009


  • There are currently no refbacks.