Compact modular system design for teleoperated laparoendoscopic single site surgery

We report a preliminary design of a compact robotic system for teleoperated laparoscopic-endoscopic single-site (LESS) surgery. The system will be sterilizeable by autoclave, immersible for cleaning, and portable. This system was developed from the previous University of Hawaii compact laparoscopic robot system and will be built upon the base of a ViKY XL endoscope robot from EndoControl SA. The system is composed of two instrument manipulators and one endocsope manipulator attached to a common rotating base ring and support frame, allowing the articulated instruments and endoscope to be inserted into the body through a single common incision and trocar. The support frame bars on either side of the base ring have gear teeth so that the insertion depth of each instrument or endoscope can be actuated by rack-and-pinion mechanisms. The endoscope is directly attached to the support frame by its rack-and-pinion drive, while each instrument is attached to its rack-and-pinion by articulated links and a universal joint, to allow independent motion while inserted through the common incision.