Remote Minimally Invasive Surgery Requirements for a Light-Weight Robot for Both Open and Laparoscopic Surgery

n minimally invasive surgery (MIS), the surgeon works with long instruments through small incisions. These small inci-sions are the main advantage of MIS, leading to several bene-fits for the patient when compared with open sur-gery. These benefits include reduced pain and trauma, re-duced loss of blood, reduced risk of wound infections, shorter hospital stays, shorter rehabilitation time, and cos-metic advantages. In contrast to open surgery, direct access to the operation field is no longer possible for the surgeon. According to [1], the loss of direct access leads to several draw