Surgical Robotics — Control Systems & Inverse Kinematics

Sat, 30 Sep 2023 00:00:00 +0000

During my time at , I worked as a Mechanical and Control Systems Engineer on an advanced robotic platform for minimally invasive laparoscopic surgery. My work focused on real-time control, inverse kinematics, and the surgeon-robot interface.

The System

The platform is a multi-degree-of-freedom surgical robot with dual manipulator arms, a surgeon console, and a training simulator for laparoscopic procedures. It was designed for telesurgery, enabling a surgeon to operate remotely over a network connection. During our testing, we successfully demonstrated this capability across two separate hospitals: the surgeon console was located in one hospital while the robot performed the procedure in another, carrying out a real surgical operation in real time.

Control & Kinematics

I developed real-time control systems for the robotic arms using TwinCAT 3 (Beckhoff) and implemented inverse kinematics algorithms enabling precise, coordinated motion for surgical tasks. I also built Python-based graphical interfaces for intuitive surgeon-robot interaction.

Surgeon Training

Beyond engineering, I trained surgeons and medical students on operating the robot, safety protocols, and clinical best practices using the simulation platform.

Technical Stack

TwinCAT 3 · Python · MATLAB · Real-time Control Systems · Inverse Kinematics · Laparoscopic Robotics

Surgical Robotics |

Surgical Robotics — Control Systems & Inverse Kinematics

The System

Control & Kinematics

Surgeon Training

Technical Stack