Modeling and Simulation of a Novel Parallel Robotic System for Minimally Invasive Pancreatic Surgery

Abstract

Abstract. This article presents the kinematic modeling, workspace analysis, and simulation of a novel modular parallel robot with four degrees-of-freedom, specifically designed to support minimally invasive pancreatic procedures. The proposed robotic system is capable of manipulating a variety of surgical instruments—including endoscopes, retractors, forceps, scissors, and irrigators—thus enhancing the precision and ergonomics of complex pancreatic procedures. The study outlines the clinical requirements and translates them into a tailored robotic architecture, followed by a detailed inverse kinematics formulation and workspace evaluation, including singularity analysis. A numerical simulation of a medically relevant trajectory was conducted in matlab, demonstrating the robot’s ability to follow precise surgical paths with high repeatability and stability. To complement the simulation results, an experimental setup was developed to assess the feasibility of the proposed system in a physical environment. This prototype, part of the ATHENA project, integrates control hardware and software, providing initial validation of the robot’s performance and its potential for integration into advanced surgical workflows.