A Robotic Laparoscope Holder With High Bending Curvature Based on an Origami Metamaterial

BACKGROUND: Robotic laparoscope holders offer stable visualisation and reduce operator fatigue, thereby enhancing surgical efficiency. Flexible endoscopes provide better manoeuverability than rigid ones but struggle to achieve large bending in confined abdominal spaces. METHODS: This study proposes a robotic laparoscope holder with high bending curvature based on an origami metamaterial composed of serially connected spatial bending units and umbrella-like motion components. The bending motion is achieved through rotational coupling between linkages, without cable actuation. A prototype was fabricated to experimentally validate the feasibility of the proposed mechanism. RESULTS: within an effective bending length of approximately 29 mm, with a maximum positional error of around 2.5 mm and a payload capacity of 200 g. CONCLUSIONS: This design provides surgeons with enhanced operational flexibility and stable visualisation, demonstrating strong potential for laparoscopic surgery applications.