Multi arm snake-like robot kinematics

Abstract

The next step in minimally invasive surgery is the further reduction of incisions by surgery through natural orifices (NOTES) or one single artificial incision (Single-Port). However, physicians pointed out, that those procedures are only possible if new technologies will increase the dexterity of the instruments inside of the body. Especially the missing ability to manipulate tissue from two sides (triangulation), needs to be obtained. This article is about the development of different kinematics for a Multi Arm Snake-Like Robot to manipulate flexible endoscopic instruments at the tip of a flexible endoscope. By using Selective Laser Sintering (SLS) it is feasible to create various shapes and designs, custom made for different patients. We are using flexure hinges and compliant mechanisms to create defined movements in serial kinematic structures. In the experiments, the relation between different structures and the influence of the inserted flexible endoscopic instrument are compared. The proposed kinematics are able to manipulate flexible endoscopic instruments. That proves that SLS structures get more advances towards a use for a flexible Single-Port Multi Arm Snake-Like Robot.