Table 7.

Mapping of actuated scopes with common user interfaces used

Interface	System type	Robotic surgical systems			Robotic scope holders
		Multiple port	Single port	Natural orifice	Rigid scopes	Articulated scopes	Endoscopes
Foot	Commercial				AESOP [85] Cirq [109] HIWIN MTG-H100 [23, 107, 108] RoboLens [20, 99–101]		Endodrive [84, 134, 135]
	Research			Three-Limb Robotic System [16, 80, 81]	FREEDOM [118, 119] Yang, Udatha [17]
Hand	Commercial	avatera [41, 42] da Vinci Xi [29, 33] Dexter [46, 47] hinotori [44, 45] Hugo RAS system [52–54] Micro hand S [34] Revo-i [37–39] Senhance [35–37] SSI mantra [55] Toumai [49] Versius [43]	da Vinci SP [36, 58]	Flex system [29, 68, 69] Ion endoluminal system [75–77] MONARCH platform [14, 70–73]	AESOP [85] AutoLap [8, 86, 102, 103] EinsteinVision 3.0 [110, 111] LapMan [88–90] Naviot [91] RoboLens [20, 99–101] ROSA ONE brain [116] SOLOASSIST II [112–115]		Aer-O-Scope [139–141] Avicenna Roboflex [136, 137] Endotics [130, 132, 133] invendoscopy E200 System [29, 142, 143] NeoGuide [128–131]
	Research	ARTEMIS [31] Bitrack [29, 40] SHURUI [27, 50, 51]	Enos [28, 37, 64, 65] MIRA [66] SPAS robotic system [62, 63] SurgiBot [30] SURS [59]	ETRS [78] i2Snake [74] K-FLEX [79] STRAS [13, 16] Three-Limb Robotic System [16, 80, 81] Endoluminal surgical system [82, 83]	Avellino, Bailly [120] De Pauw, Kalmar [117] EVOLAP [97, 98] FIPS [86, 87]	Cardioscope [121, 122] PliENT [125]	EOR [145, 146] GIM [144] RAFE [127] Sivananthan, Kogkas [147] Teleflex [10, 138]
Voice	Commercial	ZEUS [32]			AESOP [85] RoboLens [20, 99–101] SOLOASSIST II [112–115] ViKY [92–95]
	Research				FAce MOUSe [22] FIPS [86, 87] HIWIN MTG-H100a [23, 107, 108]
Head	Commercial				EMARO [86, 104–106] FreeHand [86, 96]
	Research	Jo, Kim [48]	Vicarious [60, 61]		Avellino, Bailly [120] FAce MOUSe [22] HIWIN MTG-H100 [23, 107, 108]	ARSFE [26, 126] Omori, Arai [123]	Sivananthan, Kogkas [147] Teleflex [10, 138]
Eye	Commercial	Senhance [35–37]
	Research						Sivananthan, Kogkas [147]
Tool Tracking	Commercial				AutoLap [8, 86, 102, 103] Avellino, Bailly [120] RoboLens [20, 99–101] ViKY [92–95]
	Research					ARSFE [26, 126]

^aVoice and head control are not present in the commercially available HIWIN MTG-H100 system