One of the main problems existing in minimally invasive surgery (MIS) is the surgeons' lack of control over the laparoscope. Typically, the laparoscope is controlled by an assistant. As the surgeon uses both of his/her hands to manipulate the instruments, he/she must verbally communicate with the assistant whenever a new segment of the surgical field needs to be seen. In light of the fact that the assistant is positioned in a different point of reference in relation to the surgeon and the surgical field is being projected remotely from the patient's body, it can be difficult for the assistant to fully understand which are of the surgical field the surgeon would like to view/focus on.
To solve this problem, robotic laparoscope holders were introduced into MIS to substitute the human assistant. Examples of these robotic systems holders include the automated laparoscope system for optimal positioning (AESOP) (Computer Motion, Santa Barbara,...
