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12.5.4 Robust testing for further development

The tests and experiments in this chapter validate on the development of the preliminary
design for the multiple-section tendon-driven robotic surgical platform. More robust testing
needs to be conducted for the further development of such a surgical platform. This could
include a force analysis of the flexible manipulator using force sensors to study the force
control of the flexible manipulator.

12.6 Conclusion

This chapter presents the feasibility of developing a surgical robotic platform that exhibits
multiple-section flexible arms, driven by tendon-driven wires that are attached to driving
motors. The use of a commercial microcontroller board ATmega2560 to control
simultaneous stepper motors movements is useful in manipulating a multiple-section
flexible arm such as the one presented in this preliminary robotic platform. The shape
manipulation test and the cadaveric test indicate that the multiple-section flexible arm
platform can be manipulated to shapes that are difficult for a single-section flexible
platform and has an expanded workspace that allows the multiple-section platform to be
more adaptable in working around complicated workspaces as shown in the cadaveric
experiment conducted.
This preliminary design of a robotic surgical platform hopes to deliver an alternative
approach to robot-assisted surgery, which is less costly due to its simple actuating
mechanism, as well as having a more excellent operating space due to the greater
maneuverability.

Acknowledgment

Adib would like to acknowledge Dr. Li Zheng and Mr. Abdurraheim for the valuable suggestions in the
electronics.

References
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[4] J.M. Oliveira, Y. Chen, I.W. Hunter, Robotic endoscope motor module and gearing design, in: 2011
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