Active manipulator design in gynecologic coelioscopy surgery

A 3D computer-based educational simulator in gynecologic coelioscopy surgery is described. We present new results carried out during a study project whose aim was to introduce a new approach and methodology to deal with the design of automated complex systems in the medical field with a joint cooperation between the mechanical and automatic control laboratories. The proposed system is a 4-axis dynamical-manipulator providing a force feedback along 3 of its axes. This project has been an ideal opportunity to explore the particularities of the conception of surgical simulators as well as the relevant constraints associated with the field. The dimensions of the prototype, which must be included in the belly dummy, its weight and inertia, and the transmission of the efforts have been the major focal points of this study