Chapter 4 - Flexible steerable manipulator utilizing complementary configuration of multiple routing grooves and ball joints for stable omnidirectional bending

Abstract

Flexible endoscopic graspers allow for minimally invasive diagnostic biopsies and surgical procedures. Current surgical forceps usually have passive configurations and are thus difficult to manipulate around corners and in curved trajectories during endoscopic procedures. Our aim is to produce a steerable endoscopic manipulator that has forceps with a bendable omnidirectional neck so that it can navigate curved spaces. We reconfigure hollow cylindrical segments with grooves and ball joints to allow stable omnidirectional bending of large angles, which allows the full prototype to be more compact by routing cables to extend axially through grooves instead of threading holes. This enables more straightforward navigation of contours in body cavities and a more excellent range of motion and application of the end effector to manipulate body tissues. This prototype is intended for use in conjunction with endoscopes to conduct biopsies and surgical procedures. We investigate specifications, patent search, and prior art and focus on the rationale aspects of the design.