Workspace comparison of cooperating instruments in laparo-endoscopic single-site surgery

Laparo-endoscopic single-site surgery (LESS) is a widespread approach towards minor invasiveness in surgery. To enlarge the field of application of LESS suitable medical equipment is required. However, most available products, i.e. instruments as well as access devices, cannot satisfy all the needs of this technology, e.g. an appropriate collision-free workspace. Hence, equipment has to be developed offering intervention optimal kinematic structures and dimensions. Therefore, the performance of LESS systems has to be comparable and rateable quantitatively.