Natural orifice transluminal endoscopic surgery (NOTES) has gained attention for its potential benefits, including short recovery time, no skin incision, and lower anesthesia requirement [1]. However, constrained by limited workspace, visual triangulation, lack of dexterous tools, and tool-changing, its clinical application and development are inhibited [2]. Current research [3] pursues dual articulated instruments to increase the available tool dexterity. However, to the best of our knowledge, none of the existing solutions addresses the issue of multitasking and tool-changing functionality.

We have designed a bimanual NOTES robot with tool-changing capability. It is driven by a snakelike mechanism to traverse a natural orifice [4]. This paper presents the structure of the bimanual robot and analysis of its kinematics and force transmission. Preliminary tests demonstrate its functionality and capability.

As shown in Fig. 1, the system consists of two...

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