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However, performing LS requires advanced training and skills, as it demands high precision and dexterity due to visual feedback depending on the collaboration between the surgeon and endoscope assistant, restricted field of view, and limited dexterity inside the body. Thus, a flexible endoscope holder system with an automatic control scheme is proposed to assist LS performance, allowing the surgeon to perform solo LS. A DNA\u2010inspired helix\u2010based structure with wide\u2010angle and constant curvature bending is presented and made of printable nylon with selective laser sintering. The proposed flexible mechanism reduces the cost of manufacturing and assembling. Also, it has a hollow design for embedded sensing and actuation. Then, an optimization method is proposed, which provides a reference for the endoscope installation, robot placement, and pose selection. In addition, aiming at the misorientation problem, a pose\u2010constrained visual servoing control scheme for the endoscope system is developed. Both simulation and physical experiments are conducted to verify the effectiveness and feasibility of the proposed control scheme. Experimental results demonstrate that the proposed visual servoing scheme can maintain the optimized pose and reduce misorientation during automatic view steering.<\/jats:p>","DOI":"10.1002\/aisy.202300571","type":"journal-article","created":{"date-parts":[[2023,11,12]],"date-time":"2023-11-12T21:40:54Z","timestamp":1699825254000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Design and Optimal Pose\u2010Constrained Visual Servoing of a Novel Active Flexible Endoscope Holder System for Solo Laparoscopic Surgery"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9639-1453","authenticated-orcid":false,"given":"Xue","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Surgery The Chinese University of Hong Kong  Prince of Wales Hospital, Shatin, New Territories Hong Kong"},{"name":"Department of Electronic and Electrical Engineering Engineering School Southern University of Science and Technology  Room 423, 1088 Xueyuan Avenue Shenzhen 518055 P. 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