Abstract
In previous work, a proof-of-concept articulated instrument for minimally invasive laparoscopic surgery (MILS) was proposed to overcome limitations of existing instruments. In this paper, experimental validation is pursued to satisfy constraints on biocompatibility, cost, stiffness, and durability. It was found that the instrument exhibits minimal bending deflection of approximately 3mm under the maximum load experienced during MILS, has favorable workspace volume of 679cm3, and has adequate joint durability of over 700 bending cycles. Overall, this paper demonstrates that the instrument is able to meet many of the criteria required of minimally invasive laparoscopic surgery devices and addresses many of the shortcomings of traditionally used instruments.
