Interdisciplinary development of a single-port robot

摘要

The development of a single-port endoscopic surgical robot made by selective laser sintering (SLS) is a new interdisciplinary field of research. Endoscopic interventions are reducing the post-operative stress for the patients. In this article the clinical requirements for endoscopic interventions are defined by endoscopists. Based on the requirements, engineers are developing a new single-port robotic system designed to use selective laser sintering as the manufacturing method. Different kinematic concepts and two prototypes for the design of the robot are proposed. Using simulations, the movements are predictable and the kinematics of the system can be improved. The system can be adapted to a standard endoscope and has two flexible manipulators to guide flexible endoscopic instruments inside the human body. The complete system should be realized by SLS with the material PA 2200. The powder is certificated as biocompatible according to ISO 10993-1. The goal in this new field of robotic manufacturing is to integrate a stable and predictable manufacturing process with defined material properties for flexible structures. The final step will be the clinical certification and evaluation of the system.