  Control systems used in Minimally Invasive Surgery (MIS) play a crucial role
in ensuring preci-sion and safety throughout procedures. This paper presents a
control architecture developed for a robotic system designed for MIS
operations. The modular structure of the control system allows for
compatibility with a range of procedures in abdominal and thoracic regions. The
proposed control system, employing the master-slave concept, is presented
alongside the experimental model. Functional validation is obtained by
performing a Siemens NX simulation and comparing the results with several
experimental runs using the experimental model of the robot. With its compact
size and stiffness, the system holds promise for integration with other robotic
systems. Future efforts will be dedicated to exploring and optimizing this
potential collaboration to enhance the overall capabilities of robotic-assisted
surgery.
