cs.ROSep 22, 2026

Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery

Authors: Nazia H. Dana, Harith S. Gallage, Ismail A. Auta, Dhanvi Yuvaraj, Ronghuai Qi

Organizations: Robotics and Healthcare Systems (RoboHS) Laboratory, Department of Mechanical Engineering, University of Nevada, Las Vegas (UNLV), Las Vegas, NV, USA

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Abstract

Surgical robots require highly dexterous and compact robotic systems capable of operating effectively within confined anatomical spaces. However, due to limited access provided by a single incision, the miniaturization and maneuverability of these robots still need to be improved. In this paper, we propose the design and modeling of a single-port three-arm robotic tool containing one major cannula (7.14 mm outer diameter (OD)) and three steerable minor cannulas (1.93 mm OD). By integrating the proposed 12 degrees-of-freedom (DoFs) steerable robotic tool with a 7-DoF robotic arm, this robotic system can potentially achieve multi-arm manipulation capability. We present the design of the steerable robotic tool consisting of tendon-driven joints controlled by a compact actuation system, derive the kinematic model, and validate both the static and kinematic models through experiments. The performance is evaluated with the root mean square error (RMSE) and mean absolute error (MAE) computed between the experimental data and the kinematic model.

Figures & tables

Fig. 1: Single-port three -arm robotic tool for minimally invasive neurosurgery. (a) E ntire system and (b) close-up view of the minor cannulas.
Fig. 2: Schematic of the compact actuation system (CAS), (a) an exploded view of CAS with three steerable cannulas, (b) top view of the CAS, (c) redesigned spool, and (d) an exploded view of minor cannula actuator.
Fig. 3: Schematic of the robotically steerable minor cannula comprising of a proximal and a distal joint.
Fig. 4: Schematic of the minor cannulas with coordinate frames attached to the joints. (a) Unactuated state and (b) actuated state.
Fig. 5: 3D workspace of the three minor cannulas showing the overlap region.
Fig. 6: Experimental setup.
Fig. 7: Actuation of bending joints, (a) proximal, (b) distal , and (c) both proximal and distal.
Fig. 8: Experimental validation of joint static models of (a) proximal joint, (b) distal joint, (c) rotational joint , and (d) prismatic joint.
Fig. 9: Kinematic model validation of the (a)-(c) proximal, (g)-(i) distal, (j)-(l) rotational joints at 5∘5^{\circ} , 15∘15^{\circ} , and 25∘25^{\circ} , respectively, and (d)-(f) prismatic joint at 5 mm, 15 mm , and 25 mm insertion.
Fig. 10: Comparison of experimental and kinematic modeled tip trajectories for simultaneous joint actuation.
Fig. 11: Combined actuation of the joints: (a) initial position, (b) 10 mm prismatic translation, (c) 8 ∘ proximal bending, (d) 50 ∘ distal bending , and (e) 90 ∘ rotation.
ExperimentRMSE (mm)MAE (mm)
Proximal1.430.99
Distal1.090.99
Rotational0.220.21
Prismatic0.920.82
Combined X1.150.84
Combined Y3.152.19
TABLE I: Performance Evaluation of Kinematics Models

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