Table 4.
Robotic scope holders for rigid scopes, by year
| Name | DOF | Manipulation type | Actuation method | Control type & level of automation | Control interface | Development stage | Year | Clinical application |
|---|---|---|---|---|---|---|---|---|
| AESOP (Computer Motion Inc., USA)a [85] | 4 | Three rotations and insertion depth | Motor |
Teleoperated Master–slave |
Hand control joystick, voice commands, foot pedal control | Commercial (defunct) | 1994 (FDA) |
Surgery—minimally invasive Thoracic surgery |
| FIPS (Karlsruhe Research Center, Germany) [86, 87] | 4 |
3 revolute & 1 prismatic joint Up/down, left/right, in/out, rotate |
Motor |
Teleoperated Master–slave |
Finger-ring joystick Voice control |
Research prototype (animal studies) (defunct) | 1999 |
Surgery—minimally invasive Cholecystectomy |
| FAce MOUSe (Osaka University, Japan) [22] | 3 | Up/down, left/right, insertion/retraction | Motor |
Teleoperated Master–slave |
Facial motion (image-based system), voice commands | Research prototype (ex vivo & in vivo trial) | 2003 |
Surgery—minimally invasive Cholecystectomy |
| LapMan (Medsys, Belgium) [88–90] | 3 | In/out, right/left, up/down | Motor |
Teleoperated Master–slave |
Hand control joystick & remote-controlled keypad | Commercial | 2003 (FDA) |
Surgery—minimally invasive Gynecology surgery |
| Naviot (Hitachi, Japan) [91] | – | Zoom, vertical and horizontal directions | Motor |
Teleoperated Master–slave |
Hand controller with two buttons | Commercial | 2008 (Japan) |
Surgery—minimally invasive Thoracoscopic surgery (anatomical pulmonary resection) Cholecystectomy |
| ViKY (EndoControl, France) [92–95] | 3 | Up-down, left–right, forward–backward | Motor | Teleoperated & cooperative, master–slave & semi-autonomous (detection & tracking of instrument using image analysis) | Voice control, instrument tracking | Commercial | 2008 (FDA) |
Surgery—minimally invasive Radical prostatectomy, gynecology, abdominal, thoracoscopic surgery |
| FreeHand (FreeHand Surgical, UK)b [86, 96] | 3 | Pan, tilt, zoom | Motor |
Teleoperated Master–slave |
Headset with footswitch (to engage movement) | Commercial | 2009 (FDA) |
Surgery—minimally invasive General, gynecology, urology, thoracic surgeries |
| EVOLAP (Université catholique de Louvain, Belgium) [97, 98] | 2 | – | Motor |
Teleoperated Master–slave |
Miniature hand joystick | Research prototype (in vivo trial) | 2013 |
Surgery—minimally invasive Gynecology (salpingectomy) |
| RoboLens (Sina Robotics & Medical Innovators Co., Ltd., Iran) [20, 99–101] | 4 | Up/down, left/right, in/out, rotation | Motor |
Teleoperated & Cooperative Master–slave & Semi-autonomous (Tracking surgical instruments) |
Six-button foot pedal Touch screen keypad Voice commands Surgical instruments tracking (image processing) |
Commercial | 2015 (Iran) |
Surgery—minimally invasive Cholecystectomy Ovarian cystectomy |
| AutoLap (MST Medical Surgery Technologies, Israel)c [8, 86, 102, 103] | – |
Up/down, left/right, zoom in/out Tracking designated tool |
Motor |
Teleoperated & Cooperative Master–slave & Semi-autonomous (Automatic view centering, zoom adaption, camera horizon correction) |
Joystick (Image analysis and computer-based instrument recognition) |
Commercial | 2016 (FDA) |
Surgery—minimally invasive General, gynecology, urology procedures |
| EMARO (Riverfield Inc., Japan) [86, 104–106] | 4 | Pan, tilt, zoom, roll | Pneumatically driven |
Teleoperated Master–slave |
Head sensor, foot pedal (clutch) | Commercial | 2015 (Japan) |
Surgery—minimally invasive Inguinal hernia repair |
| MTG-H100 (HIWIN Technologies Corp., Taiwan) [23, 107, 108] | 3 | Zoom in/out, upward/downward, right/left | Motor |
Teleoperated Master–slave |
Controller with foot pedals Head mounted display & speech controller proposed |
Commercial | 2017 |
Surgery—minimally invasive General, urology, gynecology, colon & rectal surgeries |
| Cirq (Medineering, Germany)d [109] | 7 | Forward/backward, left/right, up/down, pivot point rotation | Motor |
Teleoperated Master–slave |
Foot pedal controller with joystick | Commercial | 2017 (CE) |
Surgery—minimally invasive Transnasal sinus and skull base surgery |
| EinsteinVision 3.0 (Aesculap AG, Germany) [110, 111] | – | – | Motor |
Teleoperated Master–slave |
Remote hand control button interface | Commercial | 2017 |
Surgery—minimally invasive Abdominal surgery (upper gastrointestinal procedure) Gynecology surgery |
| SOLOASSIST II (AKTORmed GmbH, Germany) [112–115] | 3 |
Up/down, left/right Zoom in/out |
Electrical motore |
Teleoperated Master–slave |
Voice control, joystick | Commercial | 2018 (FDA) |
Surgery—minimally invasive General, urology, gynecology, thoracic, cardiac surgeries Transoral endoscopic thyroid surgery |
| ROSA ONE Brain (Zimmer Biomet, USA) [116] | 6 | – | – | Cooperative & semi-autonomous (force torque sensor, preoperative or intraoperative planning values) |
Touchscreen Foot pedal (for activation) Haptic technology |
Commercial | 2019 (FDA) |
Investigational procedure Ventricular endoscopy Transnasal endoscopy Surgery—minimally invasive Neurosurgery (brain and spine) |
| De Pauw, Kalmar [117] (Ghent University, Belgium) | – | Zoom in/out | Electromotor | Master–slave | Single-hand control (thumb lever) | Research prototype (cadaveric trial) | 2020 |
Surgery—minimally invasive Colorectal surgery (single-port rectopexy) |
| Yang, Udatha [17] (Monash University, Australia) | 4 |
Left/right Forward/backward Insertion/withdrawal Rotation |
– |
Teleoperated Master–slave |
Foot interface | Research prototype (lab studies) | 2020 |
Surgery—minimally invasive Laparoscopy |
| FREEDOM (The Chinese University of Hong Kong) [118, 119] | 3 | Horizontal/vertical, pitch/yaw, translation | Motor |
Teleoperated Master–slave |
Foot control | Research prototype (clinical trials) | 2020 |
Surgery—minimally invasive Endoscopic sinus surgery |
| Avellino, Bailly [120] (Sorbonne Université, France) | – | Left/right | Cable-driven |
Teleoperated & Cooperative Master–slave & Semi-autonomous |
Hand manipulation, joystick, tool tracking, posture/head tracking | Research prototype (lab studies) | 2020 |
Surgery—minimally invasive Urology, gynecology surgery Bed-side robotic surgery |
aAESOP is no longer commercialized. Computer Motion was taken over by Intuitive Surgical
bFreeHand (previously Prosurgics, UK) replaced EndoAssist / EndoSista (Armstrong Healthcare, UK)
cTransEnterix Inc. previously acquired MST Medical Surgery Technologies. AutoLap assets were later sold to Great Belief International Limited (GBIL), China [51]
dMedineering was acquired by Brainlab, Germany
ePrevious generation of the system (SOLOASSIST) was fluid actuated