Modular body of the multi arm snake-like robot

The goal in minimally-invasive surgery like NOTES (natural orifice transluminal endoscopic surgery), or single-port surgery, through one artificial incision, is to reduce the operative and post-operative stresses for the patients. Today's challenges for physicians during procedures are the missing mobility of the used flexible instruments inside the human body. Primarily the missing ability to manipulate tissue from different sides (triangulation of instruments) needs to be obtained. This article proposes the next prototype of our Multi Arm Snake-Like Robot and focuses on the kinematic development of the overtube body-frame for the flexible endoscope. We are following a new way developing a system for minimally- invasive surgery by using additive manufacturing methods like selective laser sintering (SLS). By using SLS it is feasible to create stiff structures with local flexure hinges monolithically that are custom made adapted for different patients and surgeries. To adapt our systems to different standard endoscopic equipment, procedures and patients we use a unique puzzle-clip mechanism. In the experiment the modularization of the system through the puzzle-clip system is shown. The used raw material PA 2200, a polyamide based thermoplastic polymer, is certificated as biocompatible according to DIN EN ISO 10993. This proves that the proposed Multi Arm Snake-Like SLS Robot system gets more advances towards the use during minimally-invasive procedures. And has a high chance to reach the final goal the clinical certification.