Minimally invasive surgery (MIS) brings benefits to millions of people each year and is becoming the trend of new generation of surgeries [1, 2]. Compared to open surgery, MIS brings to patients shorter hospital stay, less blood loss, and better postoperative cosmesis. Minimally invasive surgery (MIS) of the throat demands innovative devices capable to harmoniously conform to the narrow and elongated anatomy of the upper airways. The benefits of MIS of the throat, however, come at a price of limited access, visualization, and depth perception, lack of tool dexterity, reduced precision, and amplified tremor due to elongated surgical tools [1]. To improve tool dexterity, researchers and surgeons investigated the use of robotic assistance. In
