Tehran University of Medical Sciences Frontiers in Biomedical Technologies 2345-5837 2 3 2015 09 30 184 190 EN Alireza Mirbagheri Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, IranDepartment of Medical Physics & Biomedical Engineering, School of Medicine, Tehran University of Medical Sciences(TUMS), Tehran, Iran Farzam Farahmand Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran Borna Ghanadi Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran Keyvan Amini Khoiy Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran Sina Porsa Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran Mohammad Javad Shamsollahi Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran Mohammad Hasan Owlia Research Center for Biomedical Technologies and Robotics (RCBTR), Tehran University of Medical Sciences (TUMS), Tehran, Iran School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran Faramarz Karimian Department of General Surgery, School of Medicine, Tehran University of Medical Sciences (TUMS), Tehran, Iran Karamallah Toulabi Department of General Surgery, School of Medicine, Tehran University of Medical Sciences (TUMS), Tehran, Iran 2016 04 12 2016 04 12 Purpose- In this report, technical operation of “RoboLens” as an assistant robot for laparoscopic surgery has been illustrated. Methods- First, the RoboLens® mechanical mechanism and configuration of its linkage, joints and actuators are illustrated. Then, the software and user interfaces of the robot are introduced. Next, its operation from start to end of a surgery has been evaluated. Also, a technical test for its trajectory tracking in a spherical coordinate has been performed using a standard optical tracking system. Finally, an overall report from more than 1000 human clinical trials in 2 hospitals is investigated. Results- The robot was prepared for the operation in less than 30 Sec and started all the commanded movements including up, down, right, left, zoom-in or zoom-out of the screen in real time manner with less than 50 ms delay. Also, the trajectory tracking of the robot end effector on a spherical surface showed less than 1 mm error in the worst case. Conclusion- Results of the evaluation of the RoboLens indicated that it has the appropriate maneuvering capability as a robotic assistant for laparoscopic surgery in real human clinical trials https://fbt.tums.ac.ir/index.php/fbt/article/view/71 https://fbt.tums.ac.ir/index.php/fbt/article/download/71/59