Abstract
In the realm of robot-assisted surgery, maneuverability in confined spaces remains a critical challenge. This paper presents the development of a snake-like robotic arm designed specifically for large organ and tissue retraction during minimally invasive surgeries. Emulating the flexible movements of a snake, the robotic arm aims to push the boundaries of current surgical robots. Key objectives include compatibility with existing minimally invasive ports, capacity to hold up to 2 pounds of tissue without deformation, axial stability under 10N force at full extension, compatibility with articulate-by-wire robotic systems, and a minimum of 4 degrees of freedom.
The design and construction involve three segments: the base attachment, middle links, and the end manipulator. Finite Element Analysis (FEA) validates the design and demonstrates the device’s ability to handle up to 10N before the onset of deformation. The arm, manufactured using stereolithography printing, handled 2 lbs (~10N) of distal-segment load thus providing real-world evidence to reinforce the FEA data. The actuation base, powered by high-torque servo motors controlled by a separate control module, provides precise and responsive movement. Extensive testing, both in simulated computational environments and physical stress tests, demonstrates the arm's proficiency in handling surgical tasks within minimally invasive procedures.
