## 5 Discussion
This design is more cost-effective than traditional systems that rely on multiple optical lenses, facilitating the development of diverse and economical laparoscopic systems. Our objective was to ascertain the practicality of this conceptual idea in clinical settings. Equipped with wireless motion tracking, a wire-driven flexible tube, and a lens-cleaning mechanism that does not necessitate extraction, the system's mechanical performance and safety were rigorously tested in compliance with medical safety standards in anticipation of commercialization. Surgeons conducted usability evaluations, and the system underwent basic performance and safety verifications in a certified laboratory, including trials with phantom models and porcine experiments. A surgical expert reported a minimal delay of approximately 100 ms between user movements and the actuator's response, confirming the prototype's suitability for initial use. Despite the exceptionally low wireless transmission delay of motion data (below 1.3 ms), an increase in latency was observed when activating the motor and transmitting power via wire, highlighting the need for further latency reductions to ensure safe and effective operation. As the development progresses toward commercialization, mechanical safety, durability, and waterproof validation require further attention. Although a basic waterproofing feature has been implemented, precise testing has yet to be conducted. Post-surgical sterilization is imperative for the system's continuous use; nonetheless, its durability, safety, and stability under various sterilization conditions remain to be fully established. Additionally, the scope's rotation angle improvements are necessary to enhance safety and stability within the human body. The current camera quality of 1 MP, 720 p, and 30 fps falls significantly short of the 4K (UHD) standard used in most surgeries, necessitating higher-performance camera components to achieve clinical applicability. In response to the emerging trend of one-port robotic laparoscopic surgery, exemplified by the release of the Da Vinci SP system, we have developed a dedicated trocar with a dual structure to minimize interference between the camera and surgical instruments during laparoscopic surgery. The dedicated trocar facilitates the easy insertion of the camera module while securely positioning the main body. Despite advancements in precise one-port robotic surgery, conventional laparoscopic surgery will persist, owing to the variety of instruments required and the necessity for semi-precision surgery, especially for rapid procedures over extensive areas. Our cleaning technology, which does not require tube extraction, could enable true solo surgery. Limitations such as video transmission via wire due to volume constraints are anticipated to be overcome with advancements in wireless communication technologies such as 6G, minimizing interference in operating rooms. However, establishing and implementing regulatory standards for the clinical application of these technologies is expected to be a protracted process. We aim to achieve video signal transmission with a delay of less than 20 ms, imperceptible to human senses, and to integrate a rechargeable battery to eliminate cable interference, ensuring the battery's capacity and durability meet surgical requirements. Furthermore, the efficacy of an in-body camera lens-cleaning function has been substantiated. Prototypes equipped with a conventional type of laparoscopic camera demonstrated a reduction in lens fogging compared with traditional methods. It is posited that the use of non-metal materials in the camera module results in a diminished temperature disparity between the device's surface and the abdominal cavity, owing to differences in thermal conductivity. Hence, employing non-metallic materials or materials with low thermal conductivity for the camera module to be inserted into the abdomen is deemed suitable.