A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization, and Prototyping

This article proposes a master–slave operated robotic system that features the novel slave manipulator with a modular distal continuum section to address the shortcomings of traditional transanal endoscopic microsurgery (TEM). The slave manipulator consists of two seven degrees-of-freedom (7-DoF) surgical instruments and a 5-DoF endoscopic arm that are designed with distal continuum structures and unfolded with a Y configuration after inserting through a transanal port to enhance hand–eye coordination and instrument triangulation. The proposed robot is designed for adaptation in narrow and shallow rectal spaces, facilitating intuitive hand–eye coordination and enhanced operational dexterity with reduced obstruction of the field of view