Progress in Force-Sensing Techniques for Surgical Robots

Force sensing is vital for situational awareness and safe interaction during minimally invasive surgery.Consequently,surgical robots with integrated force-sensing techniques ensure precise and safe operations.Over the past few decades,there has been considerable progress in force-sensing techniques for surgical robots.This review summarizes the existing electrically-and optically-based force sensors for surgical robots,including piezoresistive,piezoelectric,capacitive,intensity/phase-modulated,andfiber Bragg gratings.Their principles,applications,advantages,and limitations are also discussed.Finally,we summarize our conclusions regarding state-of-the-art force-sensing technologies for surgical robotics.

State-of-the-art of intelligent minimally invasive surgical robots Masakatsu

A number of developed countries are rapidly turning into super-aged societies.Consequently,the demand for reduced surgical invasiveness and enhanced efficiency in the medical field has increased due to the need to reduce the physical burden on older patients and shorten their recovery period.Intelligent surgical robot systems offer high precision,high safety,and reduced invasiveness.This paper presents a review of current intelligent surgical robot systems.The history of robots and three types of intelligent surgical robots are discussed.The problems with current surgical robot systems are then analyzed.Several aspects that should be considered in designing new surgical systems are discussed in detail.The paper ends with a summary of the work and a discussion of future prospects for surgical robot development.

Feasibility and safety of minimally invasive multivisceral resection for T4b rectal cancer:A 9-year review

BACKGROUND Colorectal cancer is the third most common cancer and the second highest cause of cancer-related mortality worldwide.About 5%-10%of patients are diagnosed with locally advanced rectal cancer(LARC)on presentation.For LARC invading into other structures(i.e.T4b),multivisceral resection(MVR)and/or pelvic ex-enteration(PE)remains the only potential curative surgical treatment.MVR and/or PE is a major and complex surgery with high post-operative morbidity.Minimally invasive surgery(MIS)has been shown to improve short-term post-operative outcomes in other gastrointestinal malignancies,but there is little evi-dence on its use in MVR,especially so for robotic MVR.This is a single-center retrospective cohort study from 1st January 2015 to 31st March 2023.Inclusion criteria were patients diagnosed with cT4b rectal cancer and underwent MVR,or stage 4 disease with resectable systemic metastases.Pa-tients who underwent curative MVR for locally recurrent rectal cancer,or me-tachronous rectal cancer were also included.Exclusion criteria were patients with systemic metastases with non-resectable disease.All patients planned for elective surgery were enrolled into the standard enhanced recovery after surgery pathway with standard peri-operative management for colorectal surgery.Complex sur-gery was defined based on technical difficulty of surgery(i.e.total PE,bladder-sparing prostatectomy,pelvic lymph node dissection or need for flap creation).Our primary outcomes were the margin status,and complication rates.Cate-gorical values were described as percentages and analysed by the chi-square test.Continuous variables were expressed as median(range)and analysed by Mann-Whitney U test.Cumulative overall survival(OS)and recurrence-free survival(RFS)were analysed using Kaplan-Meier estimates with life table analysis.Log-rank test was performed to determine statistical significance between cumulative estimates.Statistical significance was defined as P<0.05.Meier estimates with life table analysis.Log-rank test was performed to determine statistical significance between cumulative estimates.Statistical significance was defined as P<0.05.RESULTS A total of 46 patients were included in this study[open MVR(oMVR):12(26.1%),miMVR:36(73.9%)].Patients’American Society of Anesthesiologists score,body mass index and co-morbidities were comparable between oMVR and miMVR.There is an increasing trend towards robotic MVR from 2015 to 2023.MiMVR was associated with lower estimated blood loss(EBL)(median 450 vs 1200 mL,P=0.008),major morbidity(14.7%vs 50.0%,P=0.014),post-operative intra-abdominal collections(11.8%vs 50.0%,P=0.006),post-operative ileus(32.4%vs 66.7%,P=0.04)and surgical site infection(11.8%vs 50.0%,P=0.006)compared with oMVR.Length of stay was also shorter for miMVR compared with oMVR(median 10 vs 30 d,P=0.001).Oncological outcomes-R0 resection,recurrence,OS and RFS were comparable between miMVR and oMVR.There was no 30-d mortality.More patients underwent robotic compared with laparoscopic MVR for complex cases(robotic 57.1%vs laparoscopic 7.7%,P=0.004).The operating time was longer for robotic compared with laparoscopic MVR[robotic:602(400-900)min,laparoscopic:Median 455(275-675)min,P<0.001].Incidence of R0 resection was similar(laparoscopic:84.6%vs robotic:76.2%,P=0.555).Overall complication rates,major morbidity rates and 30-d readmission rates were similar between la-paroscopic and robotic MVR.Interestingly,3-year OS(robotic 83.1%vs 58.6%,P=0.008)and RFS(robotic 72.9%vs 34.3%,P=0.002)was superior for robotic compared with laparoscopic MVR.CONCLUSION MiMVR had lower post-operative complications compared to oMVR.Robotic MVR was also safe,with acceptable post-operative complication rates.Prospective studies should be conducted to compare short-term and long-term outcomes between robotic vs laparoscopic MVR.

Method for Latency Measurement of Visual Feedback-Based Master–Slave Minimally Invasive Surgical Robot

To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.

Least Squares Support Vector Machine Kalman Filter for Physiological Tremor Suppression in Minimally Invasive Surgical Robot

This paper studies the physiological tremor filtering in minimally invasive surgical robot.The surgeon􀆳s physiological tremor of the hand can cause the vibration of the tip of the surgical instrument,which may reduce operative accuracy and limit the application of surgical robots.Aiming at the vibration caused by physiological tremor of hand,we propose a Least Squares Support Vector Machine Kalman Filter(LSSVMKF),which can filter the tremor by estimating and modeling the tremor signal by Kalman filter and then superimposing it reversely in the control signal.When estimating and modeling the tremor signal,the filter uses the Least Squares Support Vector Machine(LS⁃SVM)to build the regression model of the constant parameters(Process Noise Covariance and Measurement Noise Covariance)of the traditional Kalman filter,which can dynamically adjust these parameters during the operation and improve the accuracy of Kalman filter.The simulation results show that the LSSVMKF can effectively filter out the tremor signal,thereby improving the accuracy of surgery.

Initial experience of laparoendoscopic single-site radical prostatectomy with a novel purpose-built robotic system

Objective This prospective single-arm clinical trial aimed to evaluated the feasibility and safety of the application of the SHURUI system(Beijing Surgerii Technology Co.,Ltd.,Beijing,China),a novel purpose-built robotic system,in single-port robotic radical prostatectomy.Methods Sixteen patients diagnosed with prostate cancer were prospectively enrolled in and underwent robotic radical prostatectomy from October 2021 to August 2022 by the SHURUI single-port robotic surgical system.The demographic and baseline data,surgical,oncological,and functional outcomes as well as follow-up data were recorded.Results The mean operative time was 226.3(standard deviation[SD]52.0)min,and the mean console time was 183.4(SD 48.3)min,with the mean estimated blood loss of 116.3(SD 90.0)mL.The mean length of postoperative hospital stay was 4.50(SD 0.97)days.Two patients had postoperative complications(Clavien-Dindo Grade II),and both patients improved after conservative treatment.All patients’postoperative prostate-specific antigen levels decreased to below 0.2 ng/mL 1 month after discharge.The mean prostate-specific antigen level further decreased to a mean of 0.0219(SD 0.0641)ng/mL 6 months after surgery.Thirty days postoperatively,12 out of 16 patients reported using no more than one urinary pad per day,and all patients reported satisfactory urinary control without the need for pads 6 months after surgery.Conclusion The SHURUI system is safe and feasible in performing radical prostatectomy via both transperitoneal and extraperitoneal approaches.Tumor control and urinary continence were satisfying for patients enrolled in.The next phase involves conducting a large-scale,multicenter randomized controlled trial to thoroughly assess the effectiveness and safety of the new technology in a broader population.

Robotic surgery for multi-visceral resection in locally advanced colorectal cancer:Techniques,benefits and future directions

Colorectal cancer accounts for 10%of diagnosed cancers globally and often presents as advanced disease,necessitating aggressive treatment.With both younger and healthier elderly patients being diagnosed,as well as potentially the need for salvage therapy post total neoadjuvant treatment,surgical options for cure include pelvic exenteration.Whilst typically performed via an open approach,there has been an increased utilisation of minimally invasive techniques including robotic surgery.Offering smaller in-cisions,reduced postoperative pain,and quicker recovery time than open surgery,robotic techniques have demonstrated lower blood loss,shorter hospital stays,and reduced morbidity.Moreover,the er-gonomic design of robotic systems provides surgeons with comfort during long procedures and increased precision.It also offers an increased opportunity for organ preservation and reconstruction whilst maintaining adequate oncological outcomes.As robotic technology continues to evolve and combines with artificial intelligence,it is poised to play an even more significant role in the management of complex colorectal cancer cases,improving survival and long-term outcomes.

Robot-Assisted Nephrotomy as a Nephron-Sparing Approach for Completely Intraparenchymal Renal Tumors

Introduction: The diagnosis of small renal masses and the endophytic tumor approach have become challenging. This study aims to describe exclusively robot-assisted surgery as an alternative nephron-sparing approach for renal intraparenchymal tumors. Patients and Methods: We retrospectively analyzed all patients with completely endophytic tumors undergoing robot-assisted partial nephrectomy, treated under the Da Vinci System®, aided by intraoperative ultrasound. The patients’ demographic characteristics, perioperative and oncological outcomes were assessed. Results: From a total of 13 partial nephrectomies performed between 06/2010 and 10/2021, all patients underwent nephrotomy. The patients’ mean age was 52 years and the tumor measured mean 2.6 cm. Warm ischemia time was 24 minutes and histopathological analysis revealed that 12 patients had renal cell carcinoma. In a mean 36-month follow-up, no significant renal function alterations were found and no local or systemic recurrences occurred. Conclusion: Robot-assisted access is a safe and effective option for the nephron-sparing technique in completely intraparenchymal renal tumors.

Techniques to resect the distal ureter in robotic/laparoscopic nephroureterectomy

Treatment of clinically-organ confined high grade urothelial carcinoma of the upper tract has historically comprised open nephroureterectomy,with the distal ureter and bladder cuff mobilized through a separate open pelvic incision.To decrease morbidity,urologists have increasingly adopted laparoscopy and robotics in performing nephroureterectomy.In many published series of laparoscopic nephroureterectomy,the distal ureter and bladder cuff are detached from the bladder endoscopically by a variation of the“pluck”technique,with the resulting bladder defect left to heal by prolonged indwelling urethral catheter drainage.While the distal ureter and bladder cuff can be excised laparoscopically,it does require advanced laparoscopic skills.With the wrist articulation and stereoscopic vision in robotic surgery,robotic nephroureterectomy(RNU)and bladder cuff excision can be performed in antegrade fashion to mimic the open technique together with the ability to intracorporeally close the bladder defect in a watertight,mucosa to mucosa fashion after excising the bladder cuff.In this review,we discuss the published minimally invasive techniques in resecting the distal ureter and bladder cuff during laparoscopic and RNU.

Adult metaplastic hutch diverticulum with robotic-assisted diverticulectomy and reconstruction:A case report

BACKGROUND Hutch diverticulum arises from the compromised muscular development at the ureteral orifice.It is a congenital disease and extremely rare in adult,only accounting for about 3%occurrence worldwide.It can be either symptomatic or asymptomatic,and relies on image tools for diagnosis and preoperative planning.Indications for surgery are dependent on the complications from the diverticulum.Metaplasia is about 10%among those with hutch diverticulum,and it still has chances turning into malignancy,especially urothelial cell carcinoma.CASE SUMMARY A 27-year-old man was presented with frequently recurrent urinary tract infection for one year,and had suffered from intermittent right flank pain for 3 mo.No past medical histories were recorded before.No obvious abnormalities on laboratory data and urine examination were found.Under ultrasound,right hydronephrosis was seen and an anatomical abnormality was observed on intravenous pyelography.Further computed tomography urogram showed one diverticulum seated at superolateral side of right ureteral orifice.Cystoscopy was done and biopsy results showed focal metaplasia.After discussing with him,roboticassisted diverticulectomy with reconstruction was performed.Right hydronephrosis was greatly improved after surgery.He has completed his 1.5-year follow-ups,and no malignancies were seen from urine cytology and image of intravenous pyelography.CONCLUSION Robotic-assisted diverticulectomy and reconstruction to hutch diverticulum is a safe and efficient operation,providing several advantages over open and laparoscopic ones.

Role of minimally invasive techniques in gastrointestinal surgery:Current status and future perspectives

In recent years,the incidence of gastrointestinal cancer has remained high.Currently,surgical resection is still the most effective method for treating gastrointestinal cancer.Traditionally,radical surgery depends on open surgery.However,traditional open surgery inflicts great trauma and is associated with a slow recovery.Minimally invasive surgery,which aims to reduce postoperative complications and accelerate postoperative recovery,has been rapidly developed in the last two decades;it is increasingly used in the field of gastrointestinal surgery and widely used in early-stage gastrointestinal cancer.Nevertheless,many operations for gastrointestinal cancer treatment are still performed by open surgery.One reason for this may be the challenges of minimally invasive technology,especially when operating in narrow spaces,such as within the pelvis or near the upper edge of the pancreas.Moreover,some of the current literature has questioned oncologic outcomes after minimally invasive surgery for gastrointestinal cancer.Overall,the current evidence suggests that minimally invasive techniques are safe and feasible in gastrointestinal cancer surgery,but most of the studies published in this field are retrospective studies and casematched studies.Large-scale randomized prospective studies are needed to further support the application of minimally invasive surgery.In this review,we summarize several common minimally invasive methods used to treat gastrointestinal cancer and discuss the advances in the minimally invasive treatment of gastrointestinal cancer in detail.

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

Surgical robots have been widely used in diferent procedures to improve and facilitate the surgery.However,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem cells.Endometrial regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the uterus.In this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the uterus.Remote center of motion(RCM)constraint is required to protect the cervix of the uterus.First,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are predictable.Then,a task-decoupled method is used to improve the robustness of the RCM constraint.Experiments confrm that the proposed method is more robust and achieves higher RCM accuracy.In addition,the master-slave control of a robot with RCM constraint is also verifed.This study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

Robot-assisted retroperitoneal lymphadenectomy:The state of art

Objective:To perform a narrative review about the role of robot-assisted retroperitoneal lymphadenectomy(R-RPLND)in the management of testicular cancer.Methods:A PubMed search for all relevant publications regarding the R-RPLND series up until August 2019 was performed.The largest series were identified,and weighted means calculated for outcomes using the number of patients included in each study as the weighting factor.Results:Fifty-six articles of R-RPLND were identified and eight series with more than 10 patients in each were included.The weighted mean age was 31.12 years;primary and post chemotherapy R-RPLND were performed in 50.59%and 49.41%of patients.The clinical stage was I,II and III in 47.20%,39.57%and 13.23%of patients.A modified R-RPLND template was used in 78.02%of patients,while 21.98%underwent bilateral full template.The weighted mean node yield,operative time and estimated blood loss were,respectively,22.15 nodes,277.35 min and 131.94 mL.The weighted mean length of hospital stay was 2 days and antegrade ejaculation was preserved in 92.12%of patients.Major post-operative complications(Clavien III or IV)occurred in 5.34%.Positive pathological nodes were detected in 24.54%,while the recurrence free survival was 95.77%with a follow-up of 21.81 months.Conclusion:R-RPLND has proven to be a reproducible and safe approach in experienced centers;short-term oncologic outcomes are similar to the open approach with less morbidity and shorter convalescence related to its minimal invasiveness.However,longer follow-up and new trials comparing head-to-head both techniques are expected.

Robot-assisted laparoscopic pyeloureterostomy for ureteropelvic junction rupture sustained in a traffic accident:A case report

BACKGROUND Ureteral reconstruction is a highly technical type of laparoscopic or open surgery.The incidence of ureteral injury is low;however,ureteral injuries tend to be overtreated.Robotic surgery for urinary reconstructive surgery is growing in popularity,which has made procedures such as pyeloplasty,ureteroureterostomy,and ureteroneocystostomy possible,with minimal damage to the patient.To the best of our knowledge,this is the first report of robot-assisted laparoscopic pyeloureterostomy in Korea,in a 17-year-old female patient with a ureteral injury.CASE SUMMARY The patient,a 17-year-old girl without previous medical history,was presented at the emergency room and complained of abdominal and back pain.Tenderness in the right upper quadrant was observed on physical examination.Hemorrhage in the right perirenal space was observed without abdominal organ injuries on the initial enhanced abdomen computed tomography(CT)scan.Ureteral injury was not suspected at this time.The patient was stabilized via conservative treatment,but complained of right flank pain 3 wk later and revisited the emergency room.An enhanced abdominal CT scan revealed a huge urinoma in the right perirenal space with hydronephrosis of the right kidney.Retrograde and antegrade pyelography were performed.Extravasation and discontinuity of the ureter were found.A rupture of the ureteropelvic junction was diagnosed and reconstructive surgery was performed.After 3 mo,the patient did not complain of any symptoms without any abnormal radiologic findings.CONCLUSION This case report discusses the safety and effectiveness of this minimal invasive procedure as an alternative to conventional open or laparoscopic surgery.

Simultaneous robot-assisted approach in a super-elderly patient with urothelial carcinoma and synchronous contralateral renal cell carcinoma:A case report

BACKGROUND It is rare for urothelial and renal cell carcinomas to coexist in the same patient,and even rarer for them to be detected simultaneously.Because of this rarity,a standard treatment has not been established and studies about overall survival are scarce.Therefore,physicians must modify treatments according to the individual’s situation and the stage of each disease.In recent years,with advances in the instruments and techniques,minimal invasive robotic surgeries have become available for advanced-stage or high-risk patients.CASE SUMMARY An 85-year-old woman with a medical history of hypertension and hyperlipidemia visited our institution.She had visited her local hospital complaining of intermittent,painless,gross hematuria that had started 3 mo earlier.On computed tomography,a right renal mass and left proximal ureteral mass with hydronephrosis were found simultaneously.We decided to perform robot-assisted surgery on both sides during one operation.Considering renal function and kidney loading,right partial nephrectomy was performed first,followed by left nephroureterectomy with bladder cuff excision.At the 6-mo follow-up,no specific symptoms were reported and dialysis was not considered.There were no unusual findings in the imaging study,and regular follow-up and imaging studies are scheduled.CONCLUSION This case report assessed the feasibility of simultaneous minimal invasive robotic surgery as an alternative to conventional open or laparoscopic surgery.

Biochemical recurrence of pathological T2+localized prostate cancer after robotic-assisted radical prostatectomy:A 10-year surveillance

BACKGROUND pT2+prostate cancer(PCa),a term first used in 2004,refers to organ-confined PCa characterized by a positive surgical margin(PSM)without extracapsular extension.Patients with a PSM are vulnerable to biochemical recurrence(BCR)following radical prostatectomy(RP);however,whether adjuvant radiotherapy(aRT)is imperative to PSM after RP remains controversial.This study had the longest follow-up on pT2+PCa after robotic-assisted RP since 2004.Moreover,we discussed our viewpoints on pT2+PCa based on real-world experiences.AIM To conclude a 10-year surveillance on pT2+PCa and compare our results with those of the published literature.METHODS Forty-eight patients who underwent robotic-assisted RP between 2008 and 2011 were enrolled.Two serial tests of prostate specific antigen(PSA)≥0.2 ng/mL were defined as BCR.Various designed factors were analyzed using statistical tools for BCR risk.SAS 9.4 was applied and significance was defined as P<0.05.Univariate,multivariate,linear regression,and receiver operating characteristic(ROC)curve analyses were performed for statistical analyses.RESULTS With a median follow-up period of 9 years,25(52%)patients had BCR(BCR group),and the remaining 23(48%)patients did not(non-BCR group).The median time for BCR test was 4 years from the first postoperative PSA nadir.Preoperative PSA was significantly different between the BCR and non-BCR groups(P<0.001),and ROC curve analysis of preoperative PSA suggested a cutoff value of 19.09 ng/mL(sensitivity,0.600;specificity:0.739).The linear regression analysis showed no correlation between time to BCR and preoperative PSA(Pearson’s correlation,0.13;adjusted R2=0.026).CONCLUSION Robotic-assisted RP in pT2+PCa of worse conditions can provide better BCR-free survival.A surgical technique limiting the PSM in favorable situations is warranted to lower the pT2+PCa BCR rate.Preoperative PSA cut-off value of 19.09 ng/mL is a predictive factor for BCR.Based on our experiences and review of the literature,we do not recommend routine aRT for pT2+PCa.

Shape Sensing for Single-Port Continuum Surgical Robot Using FewMulticore Fiber Bragg Grating Sensors

We proposed a method for shape sensing using a few multicore fiber Bragg grating (FBG) sensors ina single-port continuum surgical robot (CSR). The traditional method of utilizing a forward kinematic model tocalculate the shape of a single-port CSR is limited by the accuracy of the model. If FBG sensors are used forshape sensing, their accuracy will be affected by their number, especially in long and flexible CSRs. A fusionmethod based on an extended Kalman filter (EKF) was proposed to solve this problem. Shape reconstructionwas performed using the CSR forward kinematic model and FBG sensors, and the two results were fused usingan EKF. The CSR reconstruction method adopted the incremental form of the forward kinematic model, whilethe FBG sensor method adopted the discrete arc-segment assumption method. The fusion method can eliminatethe inaccuracy of the kinematic model and obtain more accurate shape reconstruction results using only a smallnumber of FBG sensors. We validated our algorithm through experiments on multiple bending shapes underdifferent load conditions. The results show that our method significantly outperformed the traditional methodsin terms of robustness and effectiveness.

Robotic surgery in colon cancer: current evidence and future perspectives – narrative review

In the last 10 years,surgery has been developing towards minimal invasiveness;therefore,robotic surgery represents the consequent evolution of laparoscopic surgery.Worldwide,surgeons’performances have been upgraded by the ergonomic developments of robotic systems,leading to several benefits for patients.The introduction into the market of the new Da Vinci Xi system has made it possible to perform all types of surgery on the colon,an in selected cases,to combine interventions in other organs or viscera at the same time.Optimization of the suprapubic surgical approach may shorten the length of hospital stay for patients who undergo robotic colonic resection.From this perspective,single-port robotic colectomy,has reduced the number of robotic ports needed,allowing a better anesthetic outcome and faster recovery.The introduction on the market of new surgical robotic systems from multiple manufacturers is bound to change the landscape of robotic surgery and yield high-quality surgical outcomes.

Application of retroperitoneal laparoscopy and robotic surgery in complex adrenal tumors

As a surgical method for the treatment of adrenal surgical diseases,laparoscopy has the advantages of small trauma,short operation time,less bleeding,and fast postoperative recovery.It is considered as the gold standard for the treatment of adrenal surgical diseases.Retroperitoneal laparoscopy is widely used because it does not pass through the abdominal cavity,does not interfere with internal organs,and has little effect on gastrointestinal function.However,complex adrenal tumors have the characteristics of large volume,compression of adjacent tissues,and invasion of surrounding tissues,so they are rarely treated by retroperitoneal laparoscopy.In recent years,with the development of laparoscopic technology and the progress of surgical technology,robotic surgery has been gradually applied to the surgical treatment of complex adrenal tumors.This paper reviews the clinical application of retroperitoneal laparoscopic surgery and robotic surgery in the treatment of complex adrenal tumors.

Review of surgical robotic systems for keyhole and endoscopic procedures:state of the art and perspectives

Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades.This paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures.The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.