Effects of tools inserted through snake-like surgical manipulators

Area of Science:

• Robotics
• Medical Devices
• Surgical Technology

Background:

• Snake-like manipulators offer advanced solutions for minimally invasive and less invasive surgeries.
• These devices enable surgeons to precisely control flexible instruments within the surgical field.

Purpose of the Study:

• To develop and validate a predictive algorithm for estimating the configuration of cable-driven, snake-like manipulators.
• To assess the algorithm's accuracy with and without tools inserted into the manipulator's lumen.

Main Methods:

• A predictive algorithm based on energy minimization was developed for non-constant curvature, cable-driven manipulators.
• Experimental data, including overhead camera images and cable actuation data, were collected during manipulator bending.
• The model's predicted configurations were compared against ground-truth measurements from recorded images.

Main Results:

• The energy minimization model achieved a prediction error of 0.24 ± 0.22mm without tools and 0.24 ± 0.19mm with tools (p = 0.81).
• Tools inserted into the lumen did not significantly alter the manipulator's trajectory.
• A slight increase in required force was observed when using tools.

Conclusions:

• The proposed energy minimization algorithm accurately predicts manipulator configuration, meeting requirements for minimally invasive surgery.
• The method is robust for calculating manipulator shape with inserted tools, supporting clinical applications.