PID-controlled laparoscopic appendectomy device
Dabbour, Abdul Rahman and Şabanoviç, Asif and Elitaş, Meltem (2018) PID-controlled laparoscopic appendectomy device. In: The International Symposium on Mechatronics, Robotics and Embedded Systems (MRES 2018), Bosnia and Herzegovina (Accepted/In Press)
Minimally invasive surgery is a surgical method, which boasts many advantages over regular surgeries, such as decreasing the risks involved by mini-mizing the incision area, thus reducing the risk of infection compared to invasive surgeries. Laparoscopic surgery tools built for this purpose are mostly singular in function, which means that it requires multiple incisions for multiple tools or changing tools using the same incision during the operation. This project attempts to motorize an affordable multifunctional mechanical surgical tool prototype. The tool is designed using SolidWorks and controlled using MATLAB/Simulink. Three motors are used to motorize the multifunctional laparoscopic tool and their control architectures made it more precise and more accurate for noninvasive op-erations. It is shown that with some physical modifications and simple PID con-trol, the multifunctional laparoscopy tool can be controlled and modified for the robotic-assisted surgery. Possible future improvements include attachment of the cameras and wireless control for the tele-operational applications.
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