Unified Modelling Language Application for Laparoscopic Instrument Design

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creativework.keywordsLaparoscopic surgery, Modelling, Robotics, Software, Surgical robot, UML diagrams
creativework.publisherInstitute of Biophysics and Biomedical Engineeringen
dc.contributor.authorIvanova V.
dc.contributor.authorBoneva A.
dc.contributor.authorVasilev P.
dc.date.accessioned2024-11-13T14:47:19Z
dc.date.accessioned2024-11-14T07:26:03Z
dc.date.available2024-11-13T14:47:19Z
dc.date.available2024-11-14T07:26:03Z
dc.date.issued2024-01-01
dc.description.abstractLaparoscopic 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 ((Formula presented)) 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.
dc.identifier.doi10.7546/ijba.2024.28.3.000968
dc.identifier.issn1314-2321
dc.identifier.issn1314-1902
dc.identifier.scopusSCOPUS_ID:85206106664en
dc.identifier.urihttps://rlib.uctm.edu/handle/123456789/1525
dc.language.isoen
dc.source.urihttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85206106664&origin=inward
dc.titleUnified Modelling Language Application for Laparoscopic Instrument Design
dc.typeArticle
oaire.citation.issue3
oaire.citation.volume28
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