Development of an augmented reality simulator for a robotic system used in single incision laparoscopic surgery


  • Calin Vaida CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Gabriela Rus CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Bogdan Gherman CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Alexandru Pusca CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Paul Tucan CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Ionut Ulinici CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania
  • Doina Pisla CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania


robotic assisted SILS, augmented reality, kinematics, AR simulator, Hololens 2


Augmented Reality (AR) became a very useful tool for various domains, with multiple applications in different medical fields, where this technology is integrated in medical training, image-based diagnosis, simulation of medical tasks, or in guiding systems for surgical procedures. The introduction of AR technology in robotic assisted surgery is relatively new and challenging considering the required precision for this type of medical task. The objective of this study is to develop an AR simulator for robotic assisted Single Incision Laparoscopic Surgery (SILS) where the robot performing the procedure is embedded in a virtual environment, providing both an interactive training and a simulation environment. The architecture and particularities of the proposed robot for SILS are analyzed for a better understanding of the structure, to obtain the validation of the kinematic model. The final result is represented in the form of an application which can be operated with Hololens 2 device.


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NX- - 13/10/2022.

PISLA, D., BIRLESCU, I., PUSCA, A., TUCAN, P., GHERMAN, B., VAIDA, C., Singularity analysis and geometric optimization of a 6-DOF parallel robot for SILS, Proceedings of the Romanian Academy, Series A, 2022, accepted for publication.