Let $S_n$ be the minimal value of $\displaystyle\sum_{k=1}^n\sqrt{(2k-1)^2+a_k^2}$, where $n\in\mathbb{N}$, $a_1, a_2, \cdots, a_n\in\mathbb{R}^+$, and $a_1+a_2+\cdots a_n = 17$. If there exists a unique $n$ such that $S_n$ is also an integer, find $n$.