Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

Our research involves the development of robotic tools for minimally invasive surgery. Through this work, we are bringing the field of robotics and the practice of medical care one step closer together, with the long-term goal of improving healthcare and the human condition. Our paper describes the design of a snake-like linkage as part of a more comprehensive surgical robot system and presents a model for its motion. We show through modeling and experiments how the linkage system operates and how the components of the surgical system interact to achieve functionality relevant to minimally invasive surgical tasks.