EndoSnake—A Single-Arm-Multi-Port MIRS System with Flexible Instruments

  • Julien MintenbeckEmail author
  • Christoph Ledermann
  • Ramon Estaña
  • Heinz Wörn
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


Recently, the use of robotic assisted systems for minimally invasive surgery has increased. This is due to the precise manipulation and miniaturisation of the used equipment. The systems can be divided into multi-port and single-port robots, both with the aim of trauma reduction but with different approaches. On the one hand there are multiple robots, one with each instrument or camera and on the other hand there are small flexible instruments and only one incision in the abdominal wall. In this paper, a novel robotic system is presented that combines in a hybrid way the prior described characteristics and continues the medical aims of trauma reduction and surgeon comfort. One single lightweight robot with three individual configurable flexible instruments is being researched. Additionally, the modular hardware and software architecture is based on the open-source idea and rapid-manufacturing processes.


Tele-robotic Flexible instruments Shape sensing Laparoscopic surgery 



This work is funded by the Ministry of Science, Research and the Arts (MWK) of the state of Baden-Wuerttemberg as part of the funding programme “Innovative Projects” and the German Research Foundation (DFG).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Julien Mintenbeck
    • 1
    • 2
    Email author
  • Christoph Ledermann
    • 1
  • Ramon Estaña
    • 2
  • Heinz Wörn
    • 1
  1. 1.Karlsruhe Institute of Technology (KIT)Institute for Anthropomatics and Robotics (IAR)–Intelligent Process Control and Robotics (IPR)KarlsruheGermany
  2. 2.University of Applied Science Karlsruhe (HSKA)Department of Mechanical EngineeringKarlsruheGermany

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