The Problem

TL;DR

Cannulas used in surgery are rigid.

Background on Single Incision Laparoscopy

Single-incision laparoscopy is a type of surgical procedure that allows a surgeon to access the inside of the abdomen and pelvis without having to make large incisions in the skin. Also known as keyhole surgery, these procedures are minimally invasive because of the advanced technologies allowing surgical instruments to enter the body via a hole as small as 1.5 cm in length. The abdomen is then inflated with carbon dioxide to expand the abdominal walls and give the surgeon a clear view of the structures inside.

Advantages of Single-Incision Surgery

Reduced risk of bleeding during surgery
Reduced likelihood of blood transfusion during surgery to compensate for blood loss
Reduced risk of severe pain after surgery
formation of significantly smaller scars after surgery
Reduced exposure of internal organs to external contaminants
Reduced hospital stay since recovery time is faster
Improved overall quality of life for patients

The Limitations

Cannulas used in surgery are normally rigid. This results in what is called “sword-fighting”, where the multiple cannulas inserted through the single incision interfere with one another. One easy way of imagining the problem is sticking chopsticks through a Coca-cola bottle opening, and trying to pick up a quarter.

Because of the shape and rigidity, cannulas are also unable to circumvent any obstacles in its path. To follow our example in this case: imagine there is a balloon filling the Coca-cola bottle, and the quarter is stuck on the bottom side of the balloon. In the "surgery on a grape" video, replace the grape with the same balloon and quarter.

Of course there have been many inventions that bypass this rigidity, ranging from soft-robots to snake robots like that of Medrobotics. However, some modest benefits our system has include scaleability, increasable torque, and external motors.

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