This paper proposes a master-slave operated robotic system that features the novel slave manipulator with a modular distal continuum section to address the shortcomings of traditional transanal endoscopic microsurgery (TEM). The slave manipulator consists of two 7-DoF surgical instruments and a 5-DoF endoscopic arm that are designed with distal continuum structures and unfolded with a Y configuration after inserting through a transanal port to enhance hand-eye coordination and instrument triangulation. The proposed robot is designed for adaptation in narrow and shallow rectal spaces, facilitating intuitive hand-eye coordination and enhanced operational dexterity with reduced obstruction of the field of view. A novel hybrid coaxial continuum unit (HCCU) has been designed to offer excellent bending characteristics and structural stiffness.
