# On the Control and Validation of the PARA-SILSROB Surgical Parallel Robot
###### Abstract  
This paper presents the development of the hardware and software architecture of a sixdegrees of freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all the stages undertaken to achieve the experimental model of the robot. Based on the experimental model, the control architecture is also presented, which is primarily based on a master-slave control system through which the surgeon controls the robot using the master console composed of commercial peripheral components (two 3D Space Mouse devices, computer, and keyboard) integrated with the solution developed in this study and presented in this paper. The robot was developed also according to the surgical protocol and surgeon's requirements, and for the functionality testing of the mechanical structure, two experimental stands were used. The first stand presented several surgical steps, such as manipulation, resection, and suture of experimental tissues (simulating real-life robot-assisted surgical maneuvers) using commercial instruments. The second stand presented a simulation of an esophagectomy for esophageal cancer and digestive reconstruction through a right intercostal approach. For this testing phase, the organs were created using 3D reconstruction, and their simplified models were 3D printed using Polylet technology. Furthermore, the input trajectory generated using the master console was compared with the robot actuator's movements and the obtained results were used for validation of the proposed robot control system. parallel robot; robot-assisted surgery; experimental test; surgical robot; esophagacctory; esophageal cancer; single incision laparoscopic surgery +
Footnote †: journal:The development of surgery in the last several decades has led to the broad adoption of minimally invasive techniques, which were first introduced in gynecology during the 20 th century. This approach requires 3-5 incisions, each measuring between 5 to 15 mm. These incisions allow for the insertion of the necessary surgical instruments and typically include two active instruments: a laparoscopic camera and an aspiration tube [5; 6; 7; 8]. Its benefits are numerous: reduced postoperative trauma, less intraoperative blood loss, improved cosmetic results due to smaller incisions, a shorter hospital stay, and faster recovery after surgery. However, even if it has proven advantages for the patient compared with OS, this method presents certain drawbacks for the surgeon, such as a reduced working space, decreased surgeon dexterity, narrower field of view, and the absence of tactile feedback [9]. The next-generation technique of minimally invasive surgery (MIS) is single-incision laparoscopic surgery (SILS). It implies a single incision, either at the navel or in the intercostal spaces, that ranges between 15 and 25 mm. Through this incision, two active instruments and a laparoscopic camera are introduced into the surgical field [10; 11; 12]. It provides several key advantages, including a single incision, a reduced hospitalization time of 1 to 3 days, minimal blood loss, decreased postoperative trauma, and good cosmetic results when the incision is made at the navel. The navel heals quickly since it is a natural embryonic opening and can conceal the incision effectively. This technique also comes with some notable disadvantages: an even more limited working space than in the laparoscopic approach; greater sensitivity to surgeon's hand tremors; abdominal pressure felt by the patient, which can lead to postoperative hernias; reduced surgeon's dexterity; and a long, steep learning curve [13; 14]. The evolution from open surgery toward SILS is illustrated in Figure 1.  
Due to their advantages and advancements, robots can now be utilized in various surgical procedures. The first robot employed in brain surgery was the PUMA robot in 1985. The foundation of robotic-assisted surgery was established between 1999 and 2000 with the commercial launch and FDA approval of the da Vinci robot by Intuitive Surgical [16; 17; 18].