A group of researchers describe how they designed a novel multi-tool snake-like robot, called the i2 Snake (Intuitive Imaging Sensing Navigated and Kinematically Enhanced robot) for minimally invasive intraluminal surgery. They used a rolling-joint design, a bio-inspired mechanism that consists of two circular surfaces rolling against each other, however, standard rolling joints could slip, resulting in control inaccuracies or a dislocated joint. The researchers used an Mlab 3D printer from Concept Laser to manufacture a prototype of the optimized rolling joint which was then characterized in terms of precision and manipulation forces.