Surrogate Robotic Arm System

Our client is a world leader in surgical tools, engaged in developing a new suite of robotic instruments for a state-of-the-art robotic system.

We were tasked to develop and build a “surrogate” robotic arm system, which allows our client to quantify the performance of new instruments comprehensively in a pre-clinical environment. The instruments were tested with the robotic arm to evaluate their technical performance and usability preferences.


Key Figures

  • Integration of off-the-shelf (OTS) robotic arm and hand-held wireless controllers
  • Lag-free real time control of surgical tool through the UI
  • Iterative and closed form inverse kinematics algorithms of the tool and manipulator
  • Core algorithm and GUI developed in visual C++
  • Portable system, easy and quick to setup
  • Integration of safety features, enabling the system to work in proximity of humans

Our Contribution

  • Develop a system requirements document, the overall conceptual design and the system-level layout

  • Identify, select and source OTS components for robotic arm and UI

  • Custom instrument tool driver electro-mechanical design

  • Develop a robust inverse kinematics algorithm which maps user input to tool motion and a backlash mitigation algorithm

  • Design and program a control system with a GUI

  • Assembly, wiring and integration of all subsystems

  • In-house functional testing and debugging of entire system

  • Engineering support during in-vivo cadaver studies


By developing, building and testing a fully functional “surrogate” robotic arm system in record time, our customer was able to accelerate the instrument development and testing program by months.


Veaceslav Arabagi

625 Massachusetts Ave, FL1
MA 02139 Cambridge

Cole Constantineau

625 Massachusetts Ave, FL1
MA 02139 Cambridge

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