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Design and simulation of a single-port surgical system on multi DoF instruments

A single port surgery has merits as small scar and little physical burden of subject while it has narrow workspace and small range of operations because of the mechanical limits of the instruments. In order to enlarge the application range of single port surgery, it is important to increase the stiffness and the force of the instruments. This paper presents the design and simulation of a single-port surgical system with multi DoF instruments.