title: Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.
abstract: BACKGROUND
  To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures.
  
  
  METHODS
  This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration.
  
  
  RESULTS
  Trajectory following results from an optical motion tracker and sample task performance results are presented.
  
  
  CONCLUSIONS
  Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost.
authors.affiliation: Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
authors.forename: Oran Jacob
authors.initials: OJ
authors.lastname: Isaac-Lowry
authors.affiliation: Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
authors.forename: Steele
authors.initials: S
authors.lastname: Okamoto
authors.affiliation: Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
authors.forename: Sahba Aghajani
authors.initials: SA
authors.lastname: Pedram
authors.affiliation: Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
authors.forename: Russell
authors.initials: R
authors.lastname: Woo
authors.affiliation: Department of Mechanical Engineering, University of Hawaii at Manoa, USA.
authors.forename: Peter
authors.identifier: http://orcid.org/0000-0002-1738-4843
authors.initials: P
authors.lastname: Berkelman
mesh_terms: D001696:Biomechanical Phenomena; D019723:Endoscopes; D004867:Equipment Design; D006801:Humans; D021621:Imaging, Three-Dimensional; D010535:Laparoscopy / Q000295:instrumentation* / Q000379:methods; D009038:Motion; D065287:Robotic Surgical Procedures; D017216:Telemedicine / Q000295:instrumentation* / Q000379:methods
keywords: 3D printing design; additive manufacturing; kinematics; laparoscopy; mechatronics; minimal invasive surgery; robot design; robotic surgery; single site surgery; singleport; telesurgery