title: Surgical robots for SPL and NOTES: a review.
abstract: BACKGROUND
  Single port laparoscopy (SPL) and natural orifice transluminal endoscopic surgery (NOTES) are next-generation minimally invasive surgery (MIS) procedures which could further reduce patient trauma. Robotic assistance shows great potential in providing augmented motion precision and manipulation dexterity. This article reviews the robotic systems recently developed for SPL and NOTES.
  
  
  METHODS
  A literature search was conducted based on Science Citation Index, Engineering Index, Medline, and PubMed databases.
  
  
  RESULTS
  Eleven robotic systems for SPL and six robotic systems for NOTES were identified. Structures and performances of these systems were reported. Special attention was directed to the systems using continuum mechanisms.
  
  
  CONCLUSIONS
  Regarding the structure aspect, the reviewed systems for SPL and NOTES all deploy a vision unit and at least two manipulation arms for surgical interventions through an access channel. To date, the smallest diameter of such a channel is 12 mm. Regarding the functionality aspect, only a few systems demonstrated results promising enough for animal or clinical studies in the near future. Surgical robots using dual continuum mechanisms achieved both design compactness and functional versatility. The characteristics suggest that the use of continuum mechanisms is worth exploring through future developments of surgical robots.
authors.affiliation: RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University , Shanghai , China.
authors.forename: Jiangran
authors.initials: J
authors.lastname: Zhao
authors.forename: Bo
authors.initials: B
authors.lastname: Feng
authors.forename: Min-Hua
authors.initials: MH
authors.lastname: Zheng
authors.forename: Kai
authors.initials: K
authors.lastname: Xu
mesh_terms: D004867:Equipment Design; D004869:Equipment Safety; D006801:Humans; D010535:Laparoscopy / Q000295:instrumentation / Q000379:methods*; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation / Q000379:methods; D057605:Natural Orifice Endoscopic Surgery / Q000295:instrumentation / Q000379:methods*; D065287:Robotic Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D012371:Robotics / Q000295:instrumentation*; D016896:Treatment Outcome
keywords: Continuum mechanism; NOTES; SPL; surgical robots