The i²Snake Robotic Platform for Endoscopic Surgery.

Area of Science:

• Medical Robotics
• Minimally Invasive Surgery
• Endoscopy

Background:

• Endoscopic procedures enable surgery via natural orifices, but instrument dexterity limits complexity.
• Current endoscopic interventions are primarily diagnostic or for biopsies.

Purpose of the Study:

• To introduce a novel robotic platform, the ISNATCHE robot, designed to advance endoscopic surgery.
• To enhance dexterity and intuitive control for complex endoscopic interventions.

Main Methods:

• Development of a snake-like robotic endoscope with integrated camera, light source, and instruments.
• Integration of a robotic arm for positioning and a master interface for teleoperation.
• Validation of the control workflow through simulation and implementation on the robotic platform.

Main Results:

• The robotic platform demonstrated consistent performance between simulation and physical implementation.
• The system shows significant clinical potential for advanced endoscopic procedures.
• Ergonomics and intuitive control were key design focuses.

Conclusions:

• The ISNATCHE robot represents a significant contribution to endoscopic surgical robotics.
• The system has the potential to enable more complex procedures, reducing patient trauma and recovery.
• Future work will address limitations like tendon backlash through hardware and software solutions.