The objective of this WP is to develop the ARAKNES operative room in the gastric endoluminal site, by accessing it through a dedicated insertion port, by creating the required space and by developing robotic modular units capable of displacement and onboard arm motion and by developing the endoluminal robotic frames, that will serve as mechanical references of the micro robots, having safe deployment, refolding and retrieval capability. This includes defining the hardware and software interfaces to guarantee the compatibility between the platform subsystems and overall platform integration.