International Journal of Data Science and Artificial Intelligence (IJDSAI)

Volume 1, Issue 1, September – October (2023)

Review Article

A STUDY ON SURGICAL ROBOTS AND

THEIR RECENT DEVELOPMENTS
M. B. Asha Stebi1, * and A. Jeyam2
1Department of Electronics and Communication Engineering, Research Point India, Nagercoil, Tamilnadu, India.
2Assistant Professor, Department of Computer Science and Engineering, Lord Jegannath College, Nagercoil, Tamilnadu, India.
*Corresponding e-mail: ashastebi95@gmail.com

Abstract – In recent years, Robotics has been rapidly through computers. Robotic surgery can be performed
developing with outstanding growth and innovation. This paper without the presence of a surgeon leading to the advantage of
aims to analyze the key developments in the sub-domain of remote surgery. The surgical robot arms carry tools like light,
robotics such as medical robots, especially surgical robots.
cutting tools, and a camera [1].
Surgical robots have evolved as a transformed force in the
medical field in the way of performing complex surgical
procedures. In this paper a comprehensive review of the latest
trends, developments, and the challenges faced by the surgical
robots and their instruments have been provided, including
minimally invasive robotic surgery, telemedicine, remote
surgery and robot-assisted surgery across various specialties in
the medical field. This paper also provides the developments in
surgical robots and their instruments in surgical precision, AI-
driven decision support, and remote surgery capabilities, also
provides the ability of surgical robots in the field of healthcare
to address the challenges and enhance the specialized
healthcare systems. This review offers a valuable resource for
healthcare specialists, and researchers for gaining a better
understanding of the evolution and the recent state of surgical Figure 1. Surgical Robot and Surgery Process
robots and its impact on healthcare practices.
2. EVOLUTION OF ROBOTIC SURGERY
Keywords – Robotic surgery, Healthcare, Medical, Surgical
Robots,Telemedicine. The concept of robotic surgery evolved about 25 years
ago to assist orthopedic surgery. Arthrobot was the earliest
1. INTRODUCTION surgical robot invented in Vancouver in 1983 to place the
Robotics is concerned with the design and development patient's leg over the vocal remark of the surgeon. The robot
of robotic systems. A robotic system has the capability of performed almost 60 arthroscopic surgeries within the first
doing functions and activities for people to make their lives 12 months [2]. In 1985, the PUMA 200 robot was used to
easier and to manage the typical work process. Robotics is a orient the cannula during brain biopsy under CT guidance. In
multidisciplinary engineering field that covers electrical, the later 1980s, Brian Davies et al., at Imperial College in
mechanical, computer science, bioengineering, and other London developed a PROBOT to assist the prostate surgery.
fields. These technologies are being utilized to create a The advantage of PROBOT was its size and accuracy. In
machine that can take the place of people and do human-like 1991 Alberto and his team developed a robot for the resection
activities. Later, robotics technology allowed for the of the prostate (TRUP) which was used in clinical trials [3].
development of personal and service robots to aid people in
In 1992, ROBODOC was developed for an orthopedic
a variety of industries. Medical robots and surgical systems
operation on the femur for the replacement of the hip [4].
are a fast-expanding sector within service robotics. Similarly, CRIGOS [5] and Maquet CASPAR [6] were also
Evolution in Medicine and Computer Technology has developed for orthopedic surgery. The surgical robot
opened massive steps in the field of surgery. Implementation developed by Yulan Wang in 1989 was able to move an
of Robotic Surgery (RS) in the operating theatre improved endoscope during the surgical Laparoscope operation [7].
the quality and risk of several surgical procedures. This system was commercialized as AESOP (An automated
Particularly, robotic surgery is a minimally invasive method endoscopic system for optimal positioning) and used in the
that reduces post-surgery recovery time. In this case, the operation room. Later the AESOP system is remodeled into
surgeon follows certain steps to administer the instrument. Zeus Robotic surgical system with additional arms and
The steps involve direct manipulation or control of access different surgical tools [8]. In 1994, Steve Charles and the

ISSN: xxxx-xxxx ©KITS PRESS Publications

 M. B. Asha Stebi et al. / IJDSAI, 01(1), 1-4, 2023

NASA-JPL team together developed a RAMS (Robot- the three most common types of surgical robots used in
assisted microsurgery) system which was later used in medical surgery.
coronary artery anastomoses on animals [9].
2.1. Robot Needle Insertion system
In 1995, Frederic Moll established Intuitive Surgical Inc.
The Needle insertion robot system necessitates the
with the SRI patent for the surgical robot system [10]. They
insertion of a surgical tool inside the tissue to perform
developed the prototype of the Da Vinci Surgical system to
surgery directly on the target system. This system needs to
assist the clinical surgery. The robotic system carried out
understand the thermodynamic model of the tissue and deal
multivessel bypass surgery in 1999. In 2000, the FDA
with the issue of soft tissue deformation to reach the proper
administration officially approved the da Vinci system for
spot and handle appropriate treatment procedures such as
human use [11]. After a few years, the surgical robots were
Radiofrequency Ablation (RFA). As a result, despite the lack
used for remote surgery, Marescaux performed a
of complicated robot arms for surgeon operations, the robots
Cholecystectomy operation on the patient using a remote
have a higher demand in design. In NIR surgery, the tool
access Zeus robot in France from New York [12]. Several
makes a small hole in the target region to insert the surgical
robots were developed for orthosurgery, neurosurgery, and
arm. This prevents large surgical scars and marks created
other medical diagnostic applications for providing real-time
during normal surgery. It also reduces the trauma and
imaging data processes.
recovery time.

Figure 3. Robot Needle Insertion System

The two key issues that researchers are working to solve
in the development of percutaneous surgical devices are the
trajectory control of the needle and the right treatment
operation after the needle locates the target. The most basic
Figure 2. Development of Surgical Robot
difficulty to tackle among these two issues is accurate needle
The emerging technology and research in the robotic trajectory control. The procedure will only be effective if the
system have opened great doors in the surgical field of needle reaches the right spot. The goal of inserting the needle
medical surgery. Currently, enormous type of robots and is to prepare for surgical procedures such as RFA or venous
tools has been developed in the medical surgery process. The catheterization. The researcher must understand and do the
main objective of this surgical robotic system is to minimize study on the thermodynamic ablation model to execute RFA
the complexity, infection rate, non-invasive and low effectively [13].
recovery time. The surgical modalities of the robotic system
During the insertion process, medical instruments
vary with the categories of surgeries from general surgery to
capture images or videos of the tissues and internal organs
endoscopy. The surgical robots use precise tools to make one
that inspect the travel path of the surgical arm and guide the
of a few holes in the surgical region and insert the arms with
needle. These photos and videos may be used to monitor the
essential tools for performing the surgery. The surgical
tissue's internal structure as well as the needle's spatial
robots were controlled and monitored by the surgeon
interaction with the tissue. The needle injection imaging
throughout the surgery.
process is commonly observed in diagnostics processes such
Unlike the common surgical scalpel, the surgical robot as Magnetic Resonance (MR), Computed Tomography (CT),
should be designed smart enough to have an extended "arm" and Ultrasound (US) Imaging.
with flexible operability and controllability. To accomplish
this process, the robot system needs "knowledge" regarding 2.2. SinglePort Laparoscopy Robot (SPLR)
the operation as well as relevant information about the A single-hole surgical robot may enter the body with a
procedure, such as surgical setting, planning, and critical single, small incision, allowing surgeons to do more
processes. Intelligent surgical robots are planned to sophisticated treatments with minimal complexity during an
recognize a surgeon's activities during surgery, enhance the operation, especially during endoscopic and robot arms
precision of cutting and stitching, and lead and strategize the surgery. In comparison to the multiport technique, the single-
entire procedure [13]. hole approach has fewer surgical space needs, less stress, and
faster postoperative recovery times. Furthermore, single-hole
At present several surgical robots have been developed
surgical robots are low-cost, market-oriented, and consume
to perform specific operations such as optical surgery, neuro
minimal surgical consumables. For example, the da Vinci SP
navigation, abdominal surgery, tumor ablation, and other
single-port surgical robot application is deployed in the
invasive surgeries. The needle Insertion system (NIS),
Multiport laparoscopy, and Single-port Laparoscopy were clinical practice of laparoscopy. However, single-port
robotic surgery is still in development and is not organized
for large-scale clinical practice. Some common limitations of

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SPLR include insufficient size, instrument crowding, a Another piece of equipment for surgery used in clinical
limited number of surgical holes, and collisions of the settings is the ZEUS surgical robot system. It was developed
operation arm. One of the most critical aspects of by Computer Motion, an American robotics company, and
determining surgical results in this type of robot-aided was planned for surgical assistance. In 2001, a New York
surgery is the field of view. Interference between the surgeon used this robot to successfully execute remote
instruments is possible. As a result, the operation and the cholecystectomy surgery on an old female patient (68 years)
vision of the surgical field were harmed. Furthermore, the in Strasbourg, France [13]. The major drawbacks of the
device’s concentricity and the source of light affect the system include,
surgeon's perceptions of depth and distance, making the
surgery more challenging [13]. To tackle existing challenges • Constraints for surgery in tiny operating rooms.
and increase the use of single-port robot systems, the present • The operational immersion experience is limited by
research is focused mainly on mechanical structure design the lack of an appropriate force feedback system.
and the development of control mechanisms.
2.3.3. Sensei X Robotic Catheter System
2.3. Multiport Laparoscopy Robot (MPLR)
The Sensei X robotic system for inserting cardiac
MLPR uses multiple surgical holes to insert the surgical catheters. Sensei X is a master-slave model controlled by an
arm into the surgical region. MPLR gives surgeons a greater electromechanical slave and computer vision master. It
surgical perspective (i.e., 3D fields of vision), improved interprets the movement of the user at a distant workstation
mobility, and great surgical safety when compared to via an external handle. Manipulation of the handle provides
traditional laparoscopy-type surgical equipment. The most flexibility of movement and three-dimensional navigation
common systems of MPLR that are approved FDA (Food and during the surgical process. The slave has a 275° articulating
Drug Association) include the Da Vinci surgical system, inner leader and a 90° articulating outer sheath. Pull-wires
ZEUS surgical system, Senhance, Auris Robotic Endoscopy control the movements of each component through a remote
System (ARES), Flex Robotic system, Invendoscopy E200 joystick or the buttons provided on the master console.
System, FreeHand v1.2 and Sensei X catheter system [13]. Within its guiding catheter, the robotic catheter manipulator
2.3.1. Da Vinci Surgical System may assist multiple different catheters [14]. Sensei X is
distinctive in numerous aspects, including the ability to move
Intuitive Surgical’s “da Vinci surgical system”, is the catheter tip in 3D through remote control and the
currently the most commonly used and widespread surgical integration of a robot navigation system that detects forces at
robotic system. This system cleared the FDA approval the distal tip. The controller then transmits the haptic
certification for the digestive system surgery on June 11, sensations to the user. The IntelliSenseTM sensor technology
2000. Gradually, the opportunity was extended to incision also offers measurement of the applied force of the catheter
thoracic surgery, cardiac surgery, pediatric surgery, urology, tip by measuring grammes and direction of contact force.
stomach, and gynecology. The surgical system comprises This device has been used to successfully map the heart,
three major components surgeon-interactive operating ablate it, and repair endovascular aneurysms.
platform, a surgical table, and a versatile operating bed. The
operating system has three flexible robotic arms each with 2.3.4. Senhance
five-degree freedom. Three robotic operating arms each with In 2017, the FDA approved the Senhance console
5 degrees of freedom with 2 DOF (Degree of Freedom) wrist. robotic platform (TransEnterix, Morrisville, NC, USA). The
The robotic system adapts a master-slave control algorithm Senhance robotic system consists of three processing
so that the medical practitioner performing the surgery can components, including a connecting node, four separate
access the robotic arm from an interactive operating manipulator arms, and a remote-control station unit. The
platform. The da Vinci XI model (recent model) has a force working principle of the instruments is controlled in the same
feedback mechanism that offers a better sense of immersion way as da Vinci, with three degrees of freedom provided by
to the surgeon [13]. However, the Da Vinci system has some boom-mounted arms. An eye-tracking camera and a remote
limitations. HD three-dimensional display work together to focus the
• Due to the narrow field of view, the surgeon faces picture on the area the surgeon is aiming. The Florida
challenges in the placement of the robot arm Hospital Institute for Surgical Advancement was the first
organisation in the United States to buy the Senhance robotic
(whether it is an organ or abdominal wall).
system for use in minimally invasive surgeries [15]. The vast
• If the arm comes in contact with an organ may size of the equipment, or the fact that the system needs a lot
result in organ damage, resulting in major medical of computational space to operate, is a downside of the
issues. system. Furthermore, the lack of articulated tools limits the
robot platform's utility in more complex operations.
• Robotic surgery needs four surgical holes in the
abdominal region to insert the surgical arm. 2.3.5. Revo-i
• The da Vinci Xi surgical system has not been The Meere Company's Revo-i surgical robot is a multi-
successful in using in tiny operating environments. port minimal invasive surgical robot designed in Seoul,
South Korea. The Korean Ministry of Food and Drug Safety
2.3.2. ZEUS Surgical Robot approved the MSR-5000, its most current model, in many
preclinical studies of cholecystectomy, partial nephrectomy,

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and Fallopian tube surgery in live pig models in August 2017 patient is spread out in a certain position in the operating
[18]. It was first launched in 2015 [16] and gained this room, a mounting frame is attached to the patient's spine for
permission. The robot comes with reusable endoscopic image registration. Typically, the surgeon uses one Kirschner
equipment, a high-definition vision cart, and a 4-arm robotic wire to secure the spinous processes of the patient (K-wire).
operation cart. The goal of this trial was to see how safe and Third, when the frame has been fastened and the image
feasible this novel approach was for treating individuals with reconstruction fiducials have been installed, the fluoroscopic
localized prostate cancer (PCa). The system adapts to a image will be captured and synchronized with the pre-
master-slave interface. Arms (A) and (B) are connected to 8- operative image and recorded on the Spine Assist. The ability
mm ports, Arms (C) and (D) are connected to 12-mm to match pictures from multiple imaging modalities is
supraumbilical camera ports, Arms (A) and (B) are another advantage of the Spine Assist. The robot confirms
connected to 12-mm ports, and Arms (C) and (D) are the platform location, recreates the operative field, and
three functional robotic arms. The slave patient cart has four individually registers each of the vertebrae using these
robotic arms with three degrees of freedom. The wristed pictures and its patented 3D marker. Fourth, the robot is
instruments add seven degrees of freedom to surgical actions. secured to the installation frame, and its arm is automatically
The immersive master console uses a three-dimensional HD aligned to the chosen trajectory. Finally, guide wires are used
projector with telemanipulators for controlling the to install the screws. After that, the hardware of the robot is
instrument to provide visualization. Hepatic feedback is one detached from the patient. Even while intraoperative
key benefit that Revo-i has over da Vinci [19]. However, the radiation exposure can be reduced, the pre-operative CT scan
size constraints that da Vinci faced are still applicable for this still requires radiation [20].
technology, since it places a substantial demand on hospital
2.3.7. Robotic Endoscopy System Auris (ARES)
purchases and impedes the widespread adoption of robots.
Auris Surgical Robotics in Silicon Valley, California,
2.3.6. Mazor: SpineAssist®
produces the Auris robotic endoscopic system (ARES), a
The SpineAssist® was the first surgical robot certified teleoperated endoluminal bronchoscope that incorporates a
by the FDA to be used for surgeries on Spinal cord in the surgeon console, patient-side system, bronchoscope, and
United States in 2004, and it is now a commonly used robot controller cart. A robot cart, camera controllers, power
in this field. The SpineAssist is a shared-control robot that boxes, and robot arms make up this patient-side system. The
provides an improved intraoperative navigating system over robot has a 4 actuation axes Instrument Drive Mechanism
typical intraoperative computer-assisted navigation. It can and two arms with six degrees of freedom each [21]. The
place its arm automatically over a pre-determined route, system was approved by the FDA in 2016 [22]. An
decreasing the intricate movements necessary for the endoscopist may attach a flexible bronchoscope with an
surgeon. The surgeon is thereafter in charge of all drilling. In articulated tip to the arm's end effector, and the design
addition to giving surgical tools six degrees of freedom of permits the bronchoscope to bend in 4 directions.
motion and the ability to combine multiple different arms, Furthermore, typical treatments such as irrigation and
each of which may be fitted with drill guide sleeves, the aspiration can be performed through the working channels.
Spine-assist system enables the ideal screw insertion Additionally, standard procedures like irrigation and
location. There are five key processes to doing spinal fusion aspiration can be performed via the working channels. As
surgeries using the SpineAssist. Inside the native robot part of a clinical trial in San Jose, Costa Rica, ARES is used
software package, the surgeon first constructs the screw during diagnostic bronchoscopies for 15 patients with
trajectory. The SpineAssist program determines the best size respiratory lesions in 2014 and found no adverse effects
of the screw and the coordinates of the anatomic alignment. reported in any case [23].
This trajectory is saved on the robot's hard drive. Once the
Table 1. Emerging Systems in the Surgical Robot Industry

Robotic Phase Approval Manufacture Surgical Purpose Interface

Devices (Availability) status
Da Vinci Commercial FDA Intuitive Laparoscopic, Master-slave
Robotic System Approved Surgical thoracoscopic, control (finger
cardiotomy, urologic loops)
laparoscopy
REVO-I Commercial FDA Meere Laparoscopic surgery
Approved Company,
(2017) Korea
FreeHand v1.2 Commercial FDA Freehand 2010 Camera assisted Headset
Approved ltd Laparoscopy

Renaissance Commercial FDA Mazor Neuronavigation Position

Approved Robotics performing
(2011) surgery

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Sensei X Robot Commercial FDA Hansen Insertion of the Master slave

system (robotic Approved Medical Inc catheter through a system
catheter) vein for angiogram (Joystick)
Flex® robotic Commercial FDA Medrobotics Larynx, oropharynx, Joystick
system Approved Corporation hypopharynx control

MAKO Commercial FDA Stryker Orthopedic implants Tactile

Approved and surgery guidance
(2015) system
(Controllers)
ARES Under clinical FDA Auris Surgical Bronchoscopy Manual
trial Approved Robotics controllers
Senhance FDA FDA TransEnterix Laparoscopy and AR /VR
anticipated Approved gynecological surgery controllers
Neuroarm Under clinical FDA Canada Neuronavigation and Imaging real-
trials Approved University Neurosurgery time feedback
(2019)
Mazor X Stealth Commercial FDA Medtronic Spine surgery Master slave
Approved (controllers)
(2015)
Versius Robotic Cadaveric Not approved Cambridge Upper gastrointestinal Controllers
system Trial Medical tract, renal, colorectal,
Robotics and gynecological
SPIDER (single Acquired FDA TransEnterix Laparoendoscopic Finger loop
port instrument) approved single-site surgery
Invendoscopy Commercial FDA Invendo Colon endoscopy Master slave
E200 Surgery approved Medical system
(Joystick
control)
Verb Surgical Under Not approved Alphabet Advanced Unreported
Development

3. DEVELOPMENT OF SURGICAL ROBOTS precision, flexible construction, and acceptable stability

AND ITS INSTRUMENTS when compared to a rigid robotic surgical instrument arm.
3.1. Rigid Instrument Arm Endo Via Medical created Via Cath, an intracavity remote-
controlled robot. The flexible articulated construction of the
Researchers from Tianjin University developed robotic surgical tool arm was constructed. Once the robot
the "Easy GRASP," a stiff robotic surgical instrument arm reaches the target area, a pair of arms with surgical tools and
made of steel wire and steel sleeve. However, due to the stiff an endoscope may be removed from the lumen's end to treat
substance that is delivered into the body, the procedure's kidney stones and atrial fibrillation. The SPRINT surgical
lever effect causes the ends to reflect in various directions. platform was developed by the research team at Scuola
Using hybrid rigid robotic technology, Case Western Superiore Sant'Anna and is based on Single-Port
Reserve University created a surgical tool arm. The Laparoscopy (SPL) [25]. The disadvantage of the articulated
instrument arm, which has a 40 mm length and a 5 mm surgical instrument arm includes the formation of a surgical
diameter, is moved by a memory alloy and a DC motor. A triangle after expanding the arm and as the arm expands the
memory alloy driver is triggered to ensure that the jaws have positioning size of the arm is insufficient.
enough gripping force to accept sutures and other surgical
operations, and a DC motor is utilised to switch on or off the 3.2. Continuum Arm
surgical tool [24]. The surgeon, however, finds the surgery Continuum robotic surgical arm is an elastic arm which
painful due to the straight rod's rigidity. extremely flexible with unlimited DOF. The tool is
The articulated robotic surgical tool arm was created to developed to overcome the limitation of rigid and articulated
alleviate some of the issues with the rigid robotic surgical surgical instruments. Compared to the performance of rigid
tool arm. The articulated robotic surgical tool arm has a large and articulated arms, the Continuum is extremely flexible
range of bending motion because to its multiple flexibility and adaptable during the surgery. Constantly winding
joints, which are coupled by countless micro joints. The surgical robotic instrument arms are divided into two
articulated robotic surgical tool arm offers more degrees of categories: tendon-driven continuum instrument arms and
freedom, multidirectional motion, greater effect, higher concentric tube continuum arms [25]. They all can have a

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high degree of freedom, good continuity, bend like snakes, inner flexible tube in the concentric arm can be changed
and a broad operating space. based on the structure and shape of blood vessels.
3.2.1. Concentric Tube Arm 3.2.2. Tendon Drive Arm
The concentric tube continuum arm was developed in The minimal invasive robot was designed to perform
the United States by Webster. This arm consists of three cardiac surgery and was developed by Thakkar of
concentric circular tubes combined in a tube arm. The Washington University. The model of tendon drive has four
maximum diameter of the arm ranges between 0.8mm to 2.39 wires to provide a clear vision of the environment [25]. The
mm. The position and shape of the tube are operated by fundamental feature of this method is that the end tool
rotating the end of the concentric tubes. The system is made finishes the suture operation in a short space, making the
up of two tubes, the inner the inner flexible tube running in a entire construction compact, however, the stiffness of the end
curved track to execute a precise operation inside the vessel effector is non-optimal.
and the outer cylinder tube running straight to the vessel site
[25]. In comparison to existing concentric tube robots, the

Table 2. Emerging Techniques of Surgical Instrumental Tool and Robotic Arm

Instrument Arm Surgical Application Research Unit Features

Rigid Instrument Arm Abdominal Surgery Tianjin university, Completely made of steel
China wire and steel casing.
The lever effect causes
reverse-mirror movement.

Abdominal Surgery USA Shape memory alloy and DC

motor
Completes the Suture
operations.

Continuum Arm Percutaneous USA Steer the concentric tube to

intervention and visual guide the MRI images.
guidance
Head vascular surgery USA Has two continuum
and tumor surgery concentric tubes straight line
outer and a flexible inner
tube.

Articulated Arm Atrial fibrillation USA Flexible structure, extend the

surgical instrument, and
perform endoscopy.

Abdominal surgery Japan Mechanism with a friction

wheel and rollers.

Intestinal anastomosis Italy The insertion tube's

maximum diameter is 30
mm, and it is a two-way
intervention system.

Clinical trials UK Micro motor, multi-joint,

DOF – vertical plane, vertical
45 and horizontal 90°.

4. CONCLUSION impact of these robots in increased surgical precision,

minimal invasiveness, and improvements in patient
In this paper, an overview of the evolution history and outcomes. Such developments help the surgeons for
the recent advancements and diverse applications of surgical accessing new tools and proficiencies and also made possible
robots and their instruments across various medical the use of telemedicine and remote surgery, altering the
specialties have been explored, which significantly healthcare proficiencies all over the world. The potential of
redesigned the surgical systems. This paper also profound the

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AUTHORS
M. B. Asha Stebi received her Bachelor of
Engineering (B.E), in the field of Electronics and
Communication, from the DMI Engineering
College, Aralvaimozhi, in 2017 and completed
her Master of Engineering (M.E), in the field of
Embedded System Technologies, from James
College of Engineering and Technology,
Navalcaud, in 2020 and then joined the as the
Trainer-IR Operations in Insigma Technologies
Pvt. Ltd. (2020-2021). Then she completed her
Master of Business Applications (M.B.A), in the
field of Human Resource Management & Business Analytics, from Loyola
Institute of Technology and Science, Thovalai in 2023

A. Jeyam recived his Master Degree (M.E)

in Computer Science and Engineering GCT-
Coimbatore during 2012-2014. He has very good
knowledge in Computer related subjects like
Java, Python, Database systems, Foundations of
Computer Systems, Website Designing, Software
Engineering, Database Management Systems,
Object Oriented Programming, Image Processing
and Data Mining in university and college level,
good knowledge in Computer software,
Hardware and Networking. He has done many
projects in Image Processing. He has worked as a Lecturer and
Network Administrator for more than 05 years in Research Point
India.

Arrived: 25.07.2023
Accepted: 18.09.2023