## 1 Introduction
Its master-slave teleoperation interface emphasizes ergonomic control and intuitive workflows, with a design that incorporates tailored DOF to navigate complex anatomical pathways effectively. Although initial testing validated its clinical potential, issues such as tendon backlash and gradual elongation over time were identified, highlighting the need for further technical refinements. Robotic-assisted pancreatic surgery presents significant complexity due to the pancreas position and complex vascular network around it, requiring surgeons to navigate narrow anatomical workspaces with high precision and low marginal error. Optimization of the surgical robots for pancreatic surgery reduces intraoperative complications, enables targeted and minimally invasive techniques, improves patient outcomes and recovery times, enhances surgeon control and procedural accuracy, complies to safety regulations while decreasing error rates, enhances instrument maneuverability in restricted anatomical workspaces, improves system reliability during critical operative steps, and complies the design of the robot with the clinical needs. However, the precision required for robotic-assisted minimally invasive pancreatic procedures necessitates robotic systems capable of exceptional accuracy, extensive maneuverability, and reliable operation within confined anatomical spaces. Therefore, design optimization of robotic-assisted surgical systems is essential to maximize their effectiveness in handling precise and delicate maneuvers required in laparoscopic pancreatic surgery, ultimately aiming to enhance surgical outcomes and patient safety. Several studies employed different optimization strategies aiming to improve the design and the ergonomics of surgical robots. [PERSON] et al. [15] addressed the structural design optimization problem of continuum manipulators by establishing load-carrying capacity and secondary deformation as the optimization objectives based on the manipulator's structure. A non-dominated sorting genetic algorithm with an elite strategy (NSGA-II) is employed to handle multi-objective optimization. To validate the effectiveness of the proposed approach, an experimental prototype was developed based on the optimization results. Load-carrying and space-traversal capacity tests confirm the viability of the optimized design. [PERSON] et al. [16] introduced a compliant mechanism design for a laparoscopic surgical instrument, where an optimal topology (configuration) is developed to achieve a predefined input-output force-displacement relationship. Two distinct optimization approaches are employed. The first approach formulates an objective function that balances compliance--allowing the mechanism to undergo the required deformation (kinematic requirement)--with sufficient stiffness to withstand external loads (structural requirement) once the desired configuration is attained. The second approach focuses on minimizing the volume fraction while adhering to design constraints that restrict node translation. The optimization process is carried out using MATLAB and Altair OptiStruct software. The resulting optimized topology is then transformed into a 3D CAD model, followed by Finite Element Analysis (FEA) to evaluate stress distribution and deformations. 3-DOF parallel robots are being developed for minimally invasive surgery due to their accuracy and compact design. This type of robots usually provides two rotational and one prismatic DOFs, enabling dexterous manipulation within confined surgical spaces. A dexterous endoscopic manipulator with 3-DOF was proposed by [17]. The manipulator is composed of 3 identical kinematic limbs of type PUU. The kinematic architecture allows large bending angles of \(+/-90\) degrees in any direction and provides a workspace nearly free of internal singularities. The complexity of the design of the robot complicates the analysis of the manipulator, especially in singularity analysis requiring special geometrical and analytical approaches.