Endoscopic robot : EVOLAP

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The EVOLAP robot must meet the precision and reliability constraints inherent in any surgical procedure.

The structure and functionalities of EVOLAP make it a unique system to enable students to acquire the vast majority of knowledge and skills in engineering sciences.

The hardware part of EVOLAP system consists of :

An energy chain made up of a power supply, two sets of speed variators and DC motors allowing to set in motion a patented structure of serveral deformable parallelograms via a differential. A technical solution for static balancing has been implemented to ensure safety and reduce the torque of the motors.

An information chain made up of an acquisition and control card, two incremental encoders and two current sensors. The didactic system is equipped with two sensors measuring the inclination of the laparoscope and a button to switch from manual movement mode to piloting mode by the joystick or to automated image tracking mode.

EVOLAP operating modes :

Manual : the assistant manipulates the laparoscope directly to place it in the desired position according to the instructions given by the surgeon ; the static balancing system keeps the stucture in position.
Joystick control : the assistant or the surgeon press the control button: the robot is controled by two-dimensional joystick to achieve left/right and down/up movements. This mode prevents the assistant form getting in the way of the surgeon.

Tool tracking : in this mode, the robot will follow the path of the tool during the operation in order to keep the best possible view of the operation area for the surgeon.



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