Fig. 1

The structure of MicroHand SII robot. The system consists of a surgeon console (middle), a slave robot (left) and a video vehicle (right). An external monitor, two master manipulators and a control panel are integrated into the surgeon console. The slave robot is designed for a hoisting beam structure, which is composed of a base, a central pillar, a crossbeam, a swivel head, two arms and multi-DoF instruments. The video vehicle consists of a video workstation and light source. The central pillar is configured in the base, which can rise and fall in the vertical direction. The crossbeam is installed on the central pillar, which can translate along the horizontal axis of the pillar. A swivel head is mounted on the other end of the crossbeam. The swivel head can rotate around the vertical axis in two directions with a range of motion of [− 90°, 90°]