Medical Robotics

Energid has worked with several companies to develop control solutions and simulations for complex medical robotic systems. Actin provides advanced features very well suited to robotic surgery, including real-time collision avoidance, virtual RCM control, flexible end effector control, coordinated multi-tool control, workspace optimization, teleoperation support, high fidelity simulation, and more.

Fast, Cost-Effective Development of Modular Robotic Surgery Systems


Despite decades of successful robotic-assisted surgeries in the US that have positively impacted millions of patients, there is still limited access to this technology in developing countries. The reason, according to Dr. Sudhir Srivastava, founder and CEO of SS Innovations (SSI), is related to the affordability and complexity of existing robotic surgery systems. These are the challenges that SSI is tackling head-on. Dr. Srivastava and his team recently took an important step forward in demonstrating core functionality of a modular robotic surgical system, using Energid Technologies Actin® robotics control toolkit to quickly and cost-effectively develop the critical motion control software for the robots.

“Current robotic systems are far too expensive and take years to master, which means that very few surgeons are trained to operate these systems and much of the world is unable to access this technology,” said Dr. Srivastava, one of the early pioneers in minimally invasive and robotic cardiac surgery who has performed over 1,400 robotic cardiac surgical procedures. Dr. Srivastava’s goal is to build an affordable surgical robot that is easier for surgeons to use and provides superior outcomes for patients. 

“We chose Actin for its power and versatility, allowing us to achieve our vision of a modular surgical robot and bring it to market quickly,” said Dr. Srivastava. Read More →

Comprehensive Simulation


Actin’s kinematic simulation provides tools for:

  • Workspace Analysis—determine the maximum reachable workspace for a robot.
  • Kinematic Parameter Optimization—determine optimal parameters for a robot for a desired workspace.
  • Base Positioning Optimization—determine optimal placement of the robot for a target procedure.

Actin’s dynamic simulation supports analysis of the robot dynamics, including torques, motor inertia, friction, and more, in order to facilitate detailed design decisions. Applications include:

  • Actuator Sizing.
  • Vibration Analysis.
  • Robot Controller Design and Analysis.

Many-axis Control

  • Developed from the ground up to control many-axis systems (>7)
  • General inverse kinematics will work with any robotic arm without change in code.
  • Actin’s control algorithms can account for velocity, acceleration, and jerk limits.

Remote Center of Motion (RCM) Control

  • Supports mechanical and virtual RCM.
  • Mechanical RCM is easy to control, but limits the workspace.
  • Virtual RCM uses software to impose the RCM constraint. This supports larger workspaces and the opportunity to use the same robot for more varied procedures.

Collision Prevention and Avoidance 

  • Best-in-class algorithms for collision prevention and avoidance.
  • Continuous computation of proximity to collision that stops the system if a collision is imminent.
  • Optimize configuration of the arms to dynamically avoid collisions. The laparoscopic arm, for instance, might move its elbow joint out of the way of one of the surgical arms while maintaining the camera position.

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Real-Time Adaptive Control
For Any Robot

Would you like to learn more about leveraging Actin in your application? Contact us for a free consultation and demo.

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