Flexible instrument for minimally invasive robotic surgery using rapid prototyping technology for fabrication

The use of flexible instruments in the context of minimally-invasive robotic surgery poses a curiosity. This is because of the cleavage of flexibility, stiffness and the small size of the manipulators. Focusing on the medical point of view, flexible instruments enables an improved handling for more complex interventions and a shortened hospital stay and trauma reduction for the patient. In this paper a 3d printed cable-driven instrument with four degrees of freedom is described. Additionally the instrument is prepared for shape sensors and an autonomous tool can be attached at the tip. The instrument can be actuated by an optional DC-motor or hydraulic system. Finally, a corresponding mechanical model including a simulation and the first results are illustrated.