A study on wire-wire driven abdominal cavity mobile micro robot

NOTES (Natural Orifice Translumenal Endoscopic Surgery), a recently developed form of minimally invasive surgery, has attracted attention as a new laparoscopic operation. However, manipulation of forceps throughout the surgery continues to be a burden to surgeons. Our previous research focused on designing a model that could carry forceps and a camera through the abdominal cavity. The first prototype, a wire-tube driven micro robot, relied on the action of two suction cups for movement along the peritoneum (abdominal wall). However, the actions required to carry out the turning motions of the first prototype were strongly influenced by the rigidity of the tube. In order to solve this problem, in this study, we proposed a wire-wire driving mechanism for the robot, then developed a simulation model for investigating design and control issues. Based on the investigation, a new prototype was designed to determine the feasibility of the robot. Our results showed the robot's potential as a NOTES support device.