A design framework for safe surgical robots: example of the ARAKNES robot controller

Abstract : It is a common preconception that developing and transferring a surgical device into the Operating Room (OR) represents a difficult enterprise. Indeed, after nearly three decades of surgical robotics research, many prototypes have been built, some have been technically validated, but just few found their way in the OR. Therefore, some causes that might influence the successful transfer of emerging surgical robotics technologies into hospitals and clinics are discussed in this work. On that account, a framework for the design of surgical robots that is well suited for research centers is also presented. Such framework provides a base approach for structuring surgical robotics developments in order to comply with European medical device regulations. Finally, an example case of a robot controller for a teleoperated surgical system is provided. The latter controller was successfully integrated during the Araknes project for Single Port Laparoscopy (SPL), carried out under the European Union’s 7th Framework Program for Research and Technological Development.
Document type :
Journal articles
Complete list of metadatas

Contributor : Philippe Poignet <>
Submitted on : Wednesday, October 16, 2013 - 3:14:09 PM
Last modification on : Wednesday, May 15, 2019 - 2:22:06 PM




Luis Alonso Sanchez Secades, Philippe Poignet, Etienne Dombre, Arianna Menciassi, Paolo Dario. A design framework for safe surgical robots: example of the ARAKNES robot controller. Robotics and Autonomous Systems, Elsevier, 2014, 62 (9), pp.1342-1352. ⟨10.1016/j.robot.2014.03.020⟩. ⟨lirmm-00873838⟩



Record views