Research Article In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery Apollon Zygomalas, 1 Konstantinos Giokas, 2 and Dimitrios Koutsouris 2 1 Life Science Informatics-Medical Informatics, Department of Surgery, University of Patras, Rio, 26500 Patras, Greece 2 Biomedical Engineering Laboratory, School of Electrical and Computer Engineering, National Technical University of Athens, 15780 Zografou, Athens, Greece Correspondence should be addressed to Apollon Zygomalas; azygomalas@upatras.gr Received 30 May 2014; Accepted 3 August 2014; Published 9 September 2014 Academic Editor: Peng Hui Wang Copyright © 2014 Apollon Zygomalas et al. Tis is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifce transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. Te control of these miniature assistants is complicated. Te aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery. Methods. Te conceptual controlling system was developed, programmed, and simulated using professional robotics simulation sofware. Tree diferent modes of control were programmed. Te remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself. Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. Te arrangement of each module was always known. Te in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efcient working tasks. Conclusions. Te proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures. 1. Introduction Minimally invasive surgery is nowadays a consolidated alter- native to the traditional open surgery for a number of operations. Minimally invasive surgical techniques include laparoscopy, single site surgery, and natural orifce translu- minal endoscopic surgery. Laparoscopy has proved to be less traumatic for the patient, with minimal operative blood loss, less postoperative pain, accelerated recovery, and excellent cosmesis. A new promising minimally invasive approach is the laparoendoscopic single site (LESS) surgery, also known by a variety of other names (e.g., single incision laparoscopic surgery (SILS) and reduced port surgery (RPS)). LESS has become popular among surgeons as an alternative to standard laparoscopic surgery for a variety of operations [1]. Te evolution of minimally invasive surgery to the natural orifce transluminal endoscopic surgery (NOTES) began in 2004 when Kalloo et al. published his study on the transgastric surgery [2]. NOTES is very fascinating in terms of surgical technique but its evolvement seems to be strictly connected to technology [3]. Informatics and robotics ofer novel tools to the modern surgeon. Te development of in vivo miniature robots for use in surgery is nowadays a reality with potential advantages and possible application in minimally invasive surgery in the future [4, 5]. A revolutionary idea is the development of modular miniature robots. Modular miniature robots are composed of small subunits (modules) which could be assembled and construct a functional mini-robot [6]. Controlling modular mini-robots is rather complicated. It is essential therefore to develop appropriate sofware and hardware technology that will provide the surgeon with all necessary information and give him an easy and precise control of his miniature assistants. Using robotic simulation Hindawi Publishing Corporation Minimally Invasive Surgery Volume 2014, Article ID 307641, 5 pages http://dx.doi.org/10.1155/2014/307641