Doctors with no other background than medicine can invent things but not complex robotic arms because it requires a lot of calculations and application of robotic engineering concepts.
This is the original grant that created the device and look at the names and references and they are all engineers that put it together
If you look at the patents, he has searched the name and the doctor is listed among collaborators but he is not the sole inventor.
SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY Inventors: Nabil SIMAAN, Kai XU, Roger GOLDMAN, Peter ALLEN, Dennis FOWLER, Jienan DING
Look at the initial papers and it is and they are all members of IEEE ( aka engineers except Fowler) and look at the content and IREP KINEMATICS model and it is all formulas and calculations.
The names Dennis Fowler, Peter Allen, Andrew Miller are mentioned in the first patents in 2003. Both Allen and Miller are engineers.
2003 patent :Insertable device and system for minimal access procedure.
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