Unified Modeling Language Application for Laparoscopic Instrument Design
Laparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of...
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| Format: | Article |
| Language: | English |
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Bulgarian Academy of Sciences
2024-09-01
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| Series: | International Journal Bioautomation |
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| Online Access: | http://www.biomed.bas.bg/bioautomation/2024/vol_28.3/files/28.3_01.pdf |
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| _version_ | 1841549881805635584 |
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| author | Veronika Ivanova Ani Boneva Plamen Vasilev |
| author_facet | Veronika Ivanova Ani Boneva Plamen Vasilev |
| author_sort | Veronika Ivanova |
| collection | DOAJ |
| description | Laparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of the operation specificity and instrument construction. Correct behaviour of every device and instrument during its activities is an important condition for the proper operation of the whole system. The main purpose of this work is to model the operating behaviour of an instrument-organ interaction in an environment which is similar to the real one. The ultimate target of this study is focused on the development of a functionally operating model of a laparoscopic executive instrument for robots with improved engineering characteristics. To achieve the goals, the following main tasks are decided: i) Unified Modelling Language is applied to demonstrate the operating behaviour of a device in real-time. UseCase diagram and 3 Activity diagrams have been developed; ii) an original model of an instrument with 4 degrees of freedom for robot-assisted surgery is designed. In contrast to EndoWrist technology created by Intuitive Surgical Incorporation, USA for DaVinci instruments (with 3 orthogonal rotations), we offered other construction decisions. The designed instrument provides a kinematic structure with a combination of perpendicular and parallel rotations (R R R) which avoids additional rolls and allows obtaining the optimal working area of this instrument. This study is a continuation of previous work in the surgical robotics area. |
| format | Article |
| id | doaj-art-93eb8f2bee964eebb4240c98c266d1a8 |
| institution | Kabale University |
| issn | 1314-1902 1314-2321 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | Bulgarian Academy of Sciences |
| record_format | Article |
| series | International Journal Bioautomation |
| spelling | doaj-art-93eb8f2bee964eebb4240c98c266d1a82025-01-10T12:57:08ZengBulgarian Academy of SciencesInternational Journal Bioautomation1314-19021314-23212024-09-0128311713210.7546/ijba.2024.28.3.000968Unified Modeling Language Application for Laparoscopic Instrument DesignVeronika Ivanova0Ani BonevaPlamen VasilevRobotized and Mechatronics Intelligent Systems, Institute of Robotics, Bulgarian Academy of Sciences, Sofia, BulgariaLaparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of the operation specificity and instrument construction. Correct behaviour of every device and instrument during its activities is an important condition for the proper operation of the whole system. The main purpose of this work is to model the operating behaviour of an instrument-organ interaction in an environment which is similar to the real one. The ultimate target of this study is focused on the development of a functionally operating model of a laparoscopic executive instrument for robots with improved engineering characteristics. To achieve the goals, the following main tasks are decided: i) Unified Modelling Language is applied to demonstrate the operating behaviour of a device in real-time. UseCase diagram and 3 Activity diagrams have been developed; ii) an original model of an instrument with 4 degrees of freedom for robot-assisted surgery is designed. In contrast to EndoWrist technology created by Intuitive Surgical Incorporation, USA for DaVinci instruments (with 3 orthogonal rotations), we offered other construction decisions. The designed instrument provides a kinematic structure with a combination of perpendicular and parallel rotations (R R R) which avoids additional rolls and allows obtaining the optimal working area of this instrument. This study is a continuation of previous work in the surgical robotics area.http://www.biomed.bas.bg/bioautomation/2024/vol_28.3/files/28.3_01.pdflaparoscopic surgerymodellingroboticssurgical robotsoftwareuml diagrams |
| spellingShingle | Veronika Ivanova Ani Boneva Plamen Vasilev Unified Modeling Language Application for Laparoscopic Instrument Design International Journal Bioautomation laparoscopic surgery modelling robotics surgical robot software uml diagrams |
| title | Unified Modeling Language Application for Laparoscopic Instrument Design |
| title_full | Unified Modeling Language Application for Laparoscopic Instrument Design |
| title_fullStr | Unified Modeling Language Application for Laparoscopic Instrument Design |
| title_full_unstemmed | Unified Modeling Language Application for Laparoscopic Instrument Design |
| title_short | Unified Modeling Language Application for Laparoscopic Instrument Design |
| title_sort | unified modeling language application for laparoscopic instrument design |
| topic | laparoscopic surgery modelling robotics surgical robot software uml diagrams |
| url | http://www.biomed.bas.bg/bioautomation/2024/vol_28.3/files/28.3_01.pdf |
| work_keys_str_mv | AT veronikaivanova unifiedmodelinglanguageapplicationforlaparoscopicinstrumentdesign AT aniboneva unifiedmodelinglanguageapplicationforlaparoscopicinstrumentdesign AT plamenvasilev unifiedmodelinglanguageapplicationforlaparoscopicinstrumentdesign |