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The surgical paradigm of Minimally Invasive Surgery (MIS) has been a keydriver to the adoption of robotic surgical assistance. Progress in the lastthree decades has led to a gradual transition from manual laparoscopic surgerywith rigid instruments to robot-assisted surgery. In the last decade, theincreasing demand for new surgical paradigms to enable access into the anatomywithout skin incision (intraluminal surgery) or with a single skin incision(Single Port Access surgery - SPA) has led researchers to investigatesnake-like flexible surgical devices. In this chapter, we first present anoverview of the background, motivation, and taxonomy of MIS and its newerderivatives. Challenges of MIS and its newer derivatives (SPA and intraluminalsurgery) are outlined along with the architectures of new snake-like robotsmeeting these challenges. We also examine the commercial and research surgicalplatforms developed over the years, to address the specific functionalrequirements and constraints imposed by operations in confined spaces. Thechapter concludes with an evaluation of open problems in surgical robotics forintraluminal and SPA, and a look at future trends in surgical robot design thatcould potentially address these unmet needs.

Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries