## 2 Materials and Methods  
### Camera and Camera Controller Modules  
The primary structure of the ICT laparoscopy system is composed of the controller module and the camera module. The former encompasses a motor case, which houses a control-printed circuit board (PCB) and a driving motor. Joint and camera segments are integrated within the camera module designed for image capture. This module is inserted into the abdomen for surgical procedures. A connecting part, which links the camera module to the motor case, was developed in three variations: curved, straight, and hybrid (see Figures 2a, 2b, 2c, and 2d, respectively). Four wires (0.45 mm, stainless steel angulation cable, Medtron Technology, Los Angeles, CA, USA) are utilized to actuate the camera module, with guide springs ensuring the wires maintain a consistent length while navigating the curved path. These wires are strategically positioned at 90\({}^{\circ}\) intervals, enabling movement in the up, down, left, and right directions. The movement of the camera module is facilitated by the rotation of wire wheels, which are connected to the actuating motor (XC330M288T, Robotics Co., Seoul, Republic of Korea). Each wire wheel, encircled by a wire, governs the module's vertical and horizontal motions. The system's main body was designed to be inserted through a dedicated trocar with a diameter of 12 mm. The insertion range spans from the camera to the straight segment of the connecting part. Figure 3 illustrates the operational concept of the camera module, which encompasses two primary functions, namely position control and cleaning motion. The control of the camera's position, both horizontally and vertically, is achieved through two pairs of wires, as depicted in Figure 3a. Additionally, the cleaning motion involves the rotation and forward movement of the camera head within the cleaning cover, as demonstrated in Figure 3b. Figure 1: Concept image of the ICT laparoscopy system consisting of a main body that accommodates the camera module, a controller that controls the camera, a foot switch that operates the controller, and a display module that visualizes camera images in real time. The camera module of the ICT laparoscopy system, illustrated in Figure 4, utilizes a rolling contact joint to manipulate the camera's position. This module comprises a backbone spring, two bending wires, and two wire guide springs. Additionally, the backbone spring is utilized for the cleansing motion to manipulate the module's head, where the camera is attached. A guide tube for the backbone spring facilitates this movement. The camera wire is threaded through the backbone spring, and the guide tube, composed of Teflon, minimizes friction between the spring and the tube during rotational and forward-backward movements. Figure 3: Operating concept of the camera module. (**a**) Two pairs of wires control the camera’s vertical and horizontal position, and (**b**) the cleaning motion is executed through the rotation and forward movements of the camera head within the cleaning cover. When the camera lens rotates and moves forward within the cleaning cover, the lens is cleaned by contact with the cleaning cover. Figure 2: (**a**) Disassembly diagram of the ICT laparoscopy system’s main body, including the camera and control modules. The (**b**) curved, (**c**) straight, and (**d**) hybrid connectors connect the camera module to the camera control module. The IMU sensor (Figure 5) (Bno055, Bosch Corp., Stuttgart, Germany) integrated into the transmitter module's circuit continuously computes gyroscopic, acceleration, and geomagnetic values. These values are instantaneously converted into Euler angles, from which the yaw and pitch values are derived and transmitted to the microcontroller unit (MCU) (nrf52832, Nordic Semiconductor ASA Co., Trondheim, Norway) on the same circuit board via the two-wire interface (TWI) communication protocol.