Development of a Novel Miniaturized Dexterous Manipulator with Variable Stiffness for NOTES
Rong Cong, Xipeng Wu, Chao Qian, Kaijie Zhang, Xingguang Duan, Changsheng Li
Abstract
Natural Orifice Transluminal Endoscopic Surgery (NOTES) holds great promise due to its ability to eliminate external incisions, reduce trauma, and accelerate recovery. However, the adoption of NOTES is hindered by the limited capabilities of existing instruments, particularly in achieving the required balance between compact size, dexterity, and load capacity. This paper introduces a novel robotic manipulator designed for NOTES, featuring a 5 mm diameter and 7 degrees of freedom (DoF). The manipulator incorporates an innovative 3-PRS flexible parallel mechanism combined with a continuum parallel structure, achieving enhanced dexterity and variable stiffness functionality within a miniaturized design. A kinematic and variable stiffness analysis is performed, and experimental validation demonstrates its bending performance and stiffness modulation. Additionally, the feasibility and practicality of the robotic system are confirmed through a peg-transfer experiment, proving its potential for real-world surgical applications. This research offers a viable solution for enhancing the performance of NOTES instruments.
BibTeX
@inproceedings{iros2025_developmentofano,
title = {Development of a Novel Miniaturized Dexterous Manipulator with Variable Stiffness for NOTES},
author = {Rong Cong and Xipeng Wu and Chao Qian and Kaijie Zhang and Xingguang Duan and Changsheng Li},
booktitle = {IROS 2025},
year = {2025}
}