Enhancement of flexibility of minimally invasive instruments in single-port soft tissue surgery by integrating of manipulation systems and haptic human-machine interfaces.

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Aim of project FLEXMIN is the scientific assessment of strategies and concepts of intra-corporal manipulators for minimally invasive surgery in the abdomen by test and characterization of prototypes. The novelty of the approach is the use of parallel kinematic structures characterized by their stiffness. The structures will be designed to achieve high dexterity in all necessary degrees of freedom. The mechanical setup of the manipulator will be integrated in a single rigid tube that will be introduced to the body by the anal orifice. A haptic interface for man-machine interaction will provide the surgeon with a sense of touch for the consistency of the tissue as well as the interaction forces. This will enable intuitive use of the system in the future.Aim of future work is the ongoing development and characterisation of the haptically transparent tele manipulation system for minimally invasive surgery beyond the promontory. To achieve this, a system comprised of a rigid bent manipulator with two arms, imaging, a working channel and a haptic control unit will be developed further in a way allowing transanal surgery in the whole abdomen. To do so, five degrees of freedom at the tip of each manipulator arm as well as a frequency- and dynamics-adopted system structure will be realised. Appropriate control structures will be identified and implemented. Frequency-dependent amplification factors for the haptic feedback as well as the integration of augmented reality will be implemented to enhance surgery outcome. The integration of the system in the surgery workflow will be promoted to enable pre-clinical evaluation. This includes a concept for sterilization and the use of HF technology. The system will be evaluated during experiments using a human anatomy phantom.