Robotic system for collaborative control in minimally invasive surgery

Minimally invasive surgery (MIS) is a cost‐effective alternative to the open surgery whereby essentially the same operations are performed using specialized instruments designed to fit into the body through several tiny punctures instead of one large incision. The EndoBots (Endoscopic Robots) described here are designed for collaborative operation between the surgeon and the robotic device. The surgeon can program the device to be operated completely manually, collaboratively where motion of the robotic device in certain directions is under computer control and in others under manual surgeon control, or autonomously where the complete device is under computer control. Furthermore, the robotic tools can be quickly changed from a robotic docking station, allowing different robotic tools to be used in an operation.