Table 3.

Summary of short-distance telerobotic systems

	Name	Mechanical design	Application area	Status	References
1	Teleoperated needle insertion robot	Serial	General surgery/intervention	EXP	[55]
2	MR-guided thermotherapy	Parallel	Thermotherapy	EXP	[56]
3	Surgical system for breast biopsy	Parallel	Breast biopsy	EXP	[57]
4	CT-guided needle-placement robot	Serial	Diagnostic and therapeutic needle placement	EXP	[58]
5	Medical robot for MIS	Serial	Surgery (minimally invasive)	EXP	[59]
6	SOFIE	Serial	Surgery (laparoscopic and thoracoscopic)	EXP	[62, 60]
7	Telelap ALF-X	Serial	General surgery	EXP	[63, 64]
8	Al-Zahrawi surgical system	Serial	General surgery	EXP	[65]
9	Telerobotic system for minimally invasive surgery	Snake-like	General surgery (throat and upper airway)	EXP	[66]
10	IREP robot	Snake-like	Surgery (Single Port Access)	EXP	[67]
11	SPS manipulator	Serial	Surgery (Single Port Endoscopic)	EXP	[68]
12	SPRINT	Serial	Surgery (Single-Port Laparoscopic)	EXP	[69]
13	Endoscopic prototype telerobotic system	Serial	Surgery (transluminal endoscopic surgery)	EXP	[70]
14	Robotic (NOTES) device	Serial	Gastrointestinal (NOTES)	CLIN	[71]
15	RVIR robot (vascular interventional robot)	Supporting manipulator/catheter navigator	MIS	EXP	[72]
16	Telerobotic-assisted bone-drilling system	Linear/rotational stage	Surgery (orthopaedics)	EXP	[73]
17	Trauma pod	Serial	General surgery	EXP	[74]
18	Slave manipulator with roll-pitch-roll wrist	Serial	General surgery	EXP	[75]
19	Robotic system for corneal keratoplasty	Cartesian	Eye surgery	CLIN	[76]
20	Snake-like robot for upper airway surgery	Snake-like	Surgery (throat and upper airways—ENT)	EXP	[66]
21	Robotic system for transnasal surgery	Snake-like	Transnasal surgery—larynx and airways	EXP	[77]
22	LANS	Cartesian	Neurosurgery	EXP	[80, 81]
23	NeuroArm	Serial	Micro-neurosurgery and stereotaxy	CLIN	[82, 83]
24	MRI guided neurosurgery	Serial	Neurosurgery	EXP	[84]
25	Master–slave robotic platform for micro-neurosurgery	Spherical	Neurosurgery	EXP	[85]
26	Heart surgery robot	Spherical	Cardiac and thoracic	EXP	[87, 144]
27	MIRS (MIRoSurge)	Spherical	Cardiac and thoracic	EXP	[88, 90]
28	HIFU for kidney ablation	Cartesian	Cardiac and thoracic	CLIN	[89]
29	MIS laparoscopic robot	Spherical	Cardiac and thoracic	EXP	[91]
30	Robotic forceps manipulator	Serial	Cardiac & thoracic	EXP	[92]
31	ZEUS MI robotic lung brachytherapy	Serial	Cardiac and thoracic	COM	[93, 94]
32	da Vinci	Serial	Cardiac and thoracic	COM	[39–41]
33	Heartlander robot	Cable-Driven	Cardiac and thoracic	CLIN	[95]
34	Sensei and artisan	Snake-like	Cardiac and thoracic	COM	[97, 98]
35	MARVEL		Cardiac and thoracic	EXP	[99]
36	Creeping colonoscopy robot	Worm-like locomotion	Gastrointestinal	EXP	[100]
37	Robotic magnetic steering and locomotion of capsule	Serial	Gastrointestinal	EXP	[102]
38	GI robot with active motion	Legged locomotion	Gastrointestinal	EXP	[101]
39	Wireless GI robot	Worm-like locomotion	Gastrointestinal	CLIN	[103]
40	Prostate brachytherapy robot	Serial	Urologic	EXP	[105]
41	MRI guided prostate robot	Cartesian	Urologic	COM	[106]
42	Pneumatic robot for prostate	Spherical	Urologic	EXP	[107]
43	SpineNAv	Serial	Spinal intervention	EXP	[110, 112]
44	CoRA	Closed-loop	Spinal intervention	EXP	[108]
45	MINOSC	Cable-driven	Spinal intervention	EXP	[111]

EXP experimental, COM commercial, CLIN clinical