# On the Control and Validation of the PARA-SILSROB Surgical Parallel Robot
## 3 Results
### Medical Protocol Used for Experimental Tests
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Procedure’s Steps** & \multicolumn{2}{c}{**Technical Tasks**} & \multicolumn{2}{c}{**Medical Tasks**} \\ \hline \multirow{5}{*}{\begin{tabular}{c} Step 1 \\ Preplanning \\ \end{tabular} } & \(\bullet\) & Testing the functionality of the robot; & \(\bullet\) & Checking the patient’s medical history; \\  & \(\bullet\) & Sending the robot to homing position; & \(\bullet\) & Establishing the surgical approach and medical management; \\  & \(\bullet\) & Performing preoperative stimulation; & \(\bullet\) & Advanced medical imaging; \\  & \(\bullet\) & Testing the instrument’s tips; & \(\bullet\) & 3D reconstruction of the target organ \\  & \(\bullet\) & Testing the functionality of the master console. & & and visualization using augmented \\  & & & & reality (AR) [49]. \\ \hline \multirow{5}{*}{\begin{tabular}{c} Step 2 \\ Environment configuration \\ \end{tabular} } & \(\bullet\) & Attaching the laparoscope and positioning it in the center of the mobile platform; & \(\bullet\) & Attaching the testing stand on the robot table; \\  & \(\bullet\) & Initializing the homing procedure. & \(\bullet\) & Simulating the incision and inserting the SILS port; \\  & & & & Attaching the models in the training kit used for testing the functionality of the robot. \\ \hline \multirow{2}{*}{\begin{tabular}{c} Step 3 \\ Mobile platform positioning \\ and orientation \\ \end{tabular} } & \(\bullet\) & Positioning the mobile platform and the tip of the laparoscope above the insertion points; & \(\bullet\) & Confirming the visual position and preparing the instruments. \\  & \(\bullet\) & Saving the point above the insertion point; & \\ \hline \multirow{2}{*}{\begin{tabular}{c} Step 4 \\ Laparoscopic insertion and \\ RCM [44] saving point \\ \end{tabular} } & \(\bullet\) & Inserting the laparoscope and saving the RCM (remote center of motion) point inside the trocar. & \(\bullet\) & Manually inserting the active instruments and attaching them to the modules of the mobile platform, under laparoscope control \\ \hline \multirow{2}{*}{\begin{tabular}{c} Step 5 \\ Active instruments insertion \\ \end{tabular} } & \(\bullet\) & Attaching and fixing the active instruments to the orientation modules of the mobile platform; & \(\bullet\) & Monitoring the process of instrument insertion. \\ \hline \multirow{5}{*}{\
\begin{tabular}{c} Step 6 \\ Performing the surgical procedure \\ \end{tabular} } & \(\bullet\) & Controlling modules of the instruments through the master console; & \(\bullet\) & Preparing the instruments necessary for the medical procedure and replacing the active instruments \\  & \(\bullet\) & Reorienting the laparoscope by compensating for the movement of the active instruments [50]. & \(\bullet\) & Safety measurements for surrounding organ unseen lesions during procedure. \\ \hline \multirow{5}{*}{
\begin{tabular}{c} Step 7 \\ Surgical procedure ending \\ \end{tabular} } & \(\bullet\) & Surgical instruments retraction in & \(\bullet\) & Detaching and removing the laparoscope and active instruments from the surgical field; \\  & \(\bullet\) & Visually inspecting the robot and the master console; & \(\bullet\) & Removing the testing kit from the robot table: \\ \cline{1-1}  & \(\bullet\) & Generating a report and collecting the messages that appeared during the medical procedure, shutting down the entire system, and disconnecting it from the power supply. & \(\bullet\) & Sterilizing the instruments used during the surgical procedure. \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Medical protocol used to perform the experimental tests with the PARA-SILSROB in a laboratory. chanical structure. The first stand consisted of a simulation and training kit designed for laparoscopic applications, while the second stand featured a torso that housed the target organ, the esophagus. This organ was generated using 3D printing techniques based on a 3D reconstruction derived from images produced by a helical CT scanner.