SinaFlex

Sina is a robotic telesurgery system which can be used for performing general surgeries. The system has a reconfigurable surgery console which may be used both in sitting, semisitting, or standing surgeon postures. At the surgeon side are surgery handles of scissor, grasper, hammer, or stylus type which may be changed to perform different tasks during a single surgery. The slave subsystem has a modular and open architecture design for placement of surgical robots at one or both sides of the surgical bed and which can be integrated to each other. Noninterruptive reorienting the patient during general surgeries of deformable soft tissues is the most important advantage of such a modular and integrable design. The Sina cameraman robot (RoboLens) can smartly track the surgery instruments which are 5 mm in diameter and fully articulated. Also, the system benefits from tremor reduction, movement scaling, and three degrees of freedom haptic feedback plus pinch force for each master handle. Any available operating room equipment such as electrosurgery devices and vision systems may be integrated into the Sina surgical system. Sina also benefits from both single and reusable instruments to reduce the cost of surgeries, which is one of the main bottlenecks in the generalization of robotic surgeries. (Handbook of Robotic and Image-Guided Surgery 2019)

As a designer I had some design projects in Sina Company. The important of them is designing 3DOF force feedback. Although the conceptual design is not my work but I continued the project to detail design and manufacturing.

after 6 months I focused on programming the sina. I used TwinCat to program the system. TwinCat is a software system which turns almost any compatible PC into a real-time controller with a multi-PLC system, NC axis control, programming environment and operating station.