Developing a macro-micro teleoperation system with snake robots for minimally invasive surgeries

Surgeons currently face the burden of poor instrument control, ergonomics and visualisation in minimally invasive surgery. Bioinspired snake-like robots, evolution algorithms, 3D printing and autonomous vision systems are innovations that can revolutionise surgery. It can benefit patients with personalised treatment and reduce the burden on hospital staff. This thesis utilises these innovations to develop a macro-micro robotic platform for knee arthroscopy with a (micro) steerable snake-like end-effector attached to a (macro) RAVEN II arm. Extensive experimentation with a phantom demonstrated the superiority of the robotic prototype in reachable dexterity and teleoperated control over conventional rigid instruments