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Toward an enhanced modular operating room

This paper describes the design and integration of miniature wired robots into a modular and intelligent operation room focused on performing single-incision laparoscopic surgery. These devices were designed to be moved by a robotic arm. Its position was tracked by a tracking camera which consisted of camera and light miniature robots, having the former a stepper motor in order to provide a tilt turn. Some experiments were conducted in order to test the integration of these devices into the system.