Design and Modeling of a Magnetically Actuated Laparoscopic Robot

In single incision laparoscopic surgery (SILS), because surgical instruments are operated through a single incision. The interference between instruments and the laparoscope constrains the dexterity of surgical instruments. Inspired by the theory of spherical magnetic field, a fully-inserted laparoscopic robot is designed, whose position and orientation are controlled by external magnetic field by the driving device outside the abdominal wall. And the instrumental interferences can be alleviated by keeping the laparoscopic robot away from the surgical incision. By controlling the soft magnetic material working in linear region and referring to the results of simulation, mathematical model of the robot is established. Based on the result of statics analysis of the robot, the governing equation is established. By solving it, the relationship between the orientation and the input of electric currents of the driving device is obtained. Simulation results show that the accuracy of the model can be as low as 5.8 percent and experiments show that the laparoscope can tilt for 10 degrees.