Robotic Assistant for Gass-Insufflation-Less Laparoscopy

Abstract

This thesis presents the design, realisation, and evaluation of a robotic laparoscopic camera assistant intended to support training and practice in low-resource settings, compatible with gasless laparoscopic techniques. The work is grounded in a context-driven design approach, informed by structured end-user engagement.A compact actuator was developed to control pitch, yaw, and insertion of a laparoscope. The system was verified against functional and non-functional requirements through mechanical testing and operator validation. Results demonstrate that the actuator enables stable camera positioning across the required range of motion, remains fully backdrivable, and maintains image stability while using relative position control. Limitations were observed in achievable actuation speeds and load resistance, which were traced back to coupled design trade-offs between motor gearing, backdrivability, and friction in the insertion mechanism. Validation with clinicians showed that the actuator allows consistent establishment of the required view and feasible task execution, particularly in conventional laparoscopic configurations.The findings illustrate that meaningful camera assistance can be achieved using relatively simple mechanics and control architectures when design priorities are aligned with contextual constraints. While the current prototype is primarily suited for training and simulated use, the identified trade-offs and proposed design adaptations provide a clear pathway toward increased clinical implementation. More broadly, this work demonstrates how context-driven design can guide the development of surgical robotic systems that prioritise accessibility and practical impact over technological complexity.