Design of endoscope holder mechanism and controller for a laryngeal surgical robotic system

The objective of this paper is to describe the endoscope holder mechanism design and the controller configuration for the laryngeal surgical robotic system. This system consists of a master device, a slave device, and a control PC. The endoscope holder mechanism was designed based on a stackable mechanism. The EtherCAT communication was used for overall real-time control of the laryngeal surgical robotic system. The surgeon can remotely locate the slave device using this system.