Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF flexible laparoscopic instrument integrating distal bending, independent distal head rotation, shaft rotation, and a gripper, while maintaining a 10 mm diameter compatible with standard trocars. The actuation unit and SpaceMouse teleoperation are implemented on Raspberry Pi 5 with Motoron controllers. An analytical scissor-linkage model is derived and parameterized. The predicted jaw opening corresponds to CAD measurements (MAE 0.13{\textdegree}) and OptiTrack motion capture (MAE 1.43{\textdegree}). Integration with the ATHENA parallel robot is validated through a simulated pancreatic surgery procedure.

翻译：微创手术（MIS）可减少患者创伤并缩短恢复时间；然而，传统腹腔镜器械仍受限于有限的运动范围。本文提出一种4自由度柔性腹腔镜器械的控制架构，该器械集成了远端弯曲、独立远端头部旋转、轴旋转及夹爪功能，同时保持与标准穿刺器兼容的10毫米直径。驱动单元及SpaceMouse遥操作基于Raspberry Pi 5与Motoron控制器实现。推导并参数化了一种剪刀式连杆机构解析模型。预测的夹爪开合角度与CAD测量值（平均绝对误差0.13{\textdegree}）及OptiTrack运动捕捉数据（平均绝对误差1.43{\textdegree}}）吻合。通过模拟胰腺手术流程验证了其与ATHENA并联机器人的集成效果。