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.
@article{arxiv.2604.05610,
title = {Control Architecture and experimental validation of a Novel Surgical Robotic Instrument},
author = {Doina Pisla and Ionut Zima and Calin Vaida and Andrei Cailean and Marius Miclaus and Adrian Pisla and Andrei Caprariu and Vasile Bulbucan and Bogdan Gherman and Damien Chablat},
journal= {arXiv preprint arXiv:2604.05610},
year = {2026}
}