Modelling and quality control of robot-assisted gastrointestinal assembly

Surgical soft tissue assembly is characterized by the hyperelasticity, bio-compatibility of the parts to be joined and the specific medical evaluation criteria which differs from traditional mechanical assembly. The minimally invasive surgical (MIS) robot equipped with a functional end-effector is an effective platform for the complicated surgical task. This paper presents a mechanical model of robot-assisted gastrointestinal assembly and the use of such model in the control of assembly quality. The finite element method (FEM) simulation illustrates the stress distribution and joint formation process. The geometrical parameters of the assembled B-shaped staple are used to optimize variables in the mechanical model.