In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery

Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery. Methods. The conceptual controlling system was developed, programmed, and simulated using professional robotics simulation software. Three different modes of control were programmed. The remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself. Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. The arrangement of each module was always known. The in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efficient working tasks. Conclusions. The proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures. 1. Introduction Minimally invasive surgery is nowadays a consolidated alternative to the traditional open surgery for a number of operations. Minimally invasive surgical techniques include laparoscopy, single site surgery, and natural orifice transluminal endoscopic surgery. Laparoscopy has proved to be less traumatic for the patient, with minimal operative blood loss, less postoperative pain, accelerated recovery, and excellent cosmesis. A new promising minimally invasive approach is the laparoendoscopic single site (LESS) surgery, also known by a variety of other names (e.g., single incision laparoscopic surgery (SILS) and reduced port surgery (RPS)). LESS has become popular among surgeons as an alternative to standard laparoscopic surgery for a variety of operations [1]. The evolution of minimally invasive surgery to the natural orifice transluminal endoscopic surgery (NOTES) began in 2004 when Kalloo et al. published his study on the transgastric surgery [2]. NOTES is very fascinating in terms of surgical technique but its evolvement seems to be strictly connected to technology？[3]. Informatics and robotics offer novel tools to