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. 2024 Apr 23;14:9264. doi: 10.1038/s41598-024-59338-3

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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The laparoscope-holding robot used in the experiment: (a) The laparoscope-holding robot system consists of a YuMI robot, surgery simulator and a monitor. (b) The surgeon’s view when performing tasks. (c) Laparoscope required degrees of freedom. The world frame and local laparoscope frame are shown in blue and red, respectively. The four required DoF are also presented with respect to the laparoscope frame.