Robotic-Assisted Minimally Invasive Surgery: A Dual-Robot Implementation Strategy | ||
| International Journal of Artificial Intelligence and Emerging Technology | ||
| Volume 7, Issue 1, June 2024, Pages 20-27 PDF (556.57 K) | ||
| Document Type: Original Article | ||
| DOI: 10.21608/ijaiet.2025.377514.1013 | ||
| Authors | ||
| amr emad* 1; Ezzat A. A.2 | ||
| 1Mechatronics Engineering Department, Higher Institute of Engineering and Technology, New Minya, Egypt. | ||
| 21Mechatronics Engineering Department, Higher Institute of Engineering and Technology, New Minya, Egypt. | ||
| Abstract | ||
| ABSTRACT — Robotic-Assisted Minimally Invasive Surgery (RAMIS) has revolutionized surgical interventions by enhancing precision, reducing patient trauma, and improving recovery outcomes. This study presents a novel dual-robot implementation strategy designed to augment the capabilities of RAMIS through cooperative manipulation and parallel task execution. The system comprises two 6-degree-of-freedom robotic arms (D-H configured), each equipped with force-torque sensors, endoscopic cameras, and tool interchangeability mechanisms. The control framework employs a master-slave teleoperation scheme with real-time haptic feedback and vision-based target tracking, implemented using a ROS-based middleware for modularity and integration. A hybrid control architecture combines impedance control for compliant interaction with tissues and position control for precision maneuvers. The system was validated in both bench-top simulations and ex-vivo case studies, including laparoscopic suturing, tissue dissection, and vessel anastomosis. Quantitative metrics from these trials demonstrated a 25% reduction in task completion time, a 30% improvement in path accuracy, and significantly lower applied forces compared to single-arm robotic systems. Surgeon feedback highlighted enhanced bimanual coordination, intuitive control, and reduced cognitive load during complex tasks. These findings suggest that dual-robot configurations in RAMIS can offer substantial benefits in terms of efficiency, safety, and scalability, supporting their potential for clinical integration in high-precision surgical domains such as urology, gynecology, and cardiovascular procedures. | ||
| Keywords | ||
| Robotic-Assisted Surgery; Kinematic Design; Workspace Optimization; Robotic Control System; Raspberry Pi | ||
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