Application of StrucFunctional Integration in the Single-Port Robotically Surgical System

The limitation of single-port access puts a higher technical requirement for the development of single-port robotically surgical system. It has to integrate more degrees of freedom (DOFs) in a more limited range, provide adequate operational accuracy and operational force in a more restricted space, and provide the ability of hand–eye coordination consistency in a highly integrated system. Based on the above needs and aiming at the national major project strategy and scientific frontier, this paper proposed a self-developed single-port robotic system to meet the strict requirements, consisting of the surgeon console subsystem, the slave robot subsystem, the vision subsystem, the control subsystem, and the robot-assisted anastomosis subsystem.