Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting

This paper introduces an original, dextrous, active and modular minimally invasive instrument dedicated to coronary artery bypass grafting surgery. Its design is obtained by a generic evolutionary optimization process using Pareto-based multi objective genetic algorithms and including highly realist simulations and experimental models of the surgical gesture. The optimal instrument has 5 intra-body DOFs, is actuated by brush-less micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.