Background: single-port laparoscopic surgery is a hotspot of minimally invasive surgery, but its promotion is limited because of operational triangulation and instrument conflict. Robot technologies can cleverly solve this dilemma. But most of the surgery robots need high cost and long time to setup and mainly for complex surgery currently. There is no portable single-port laparoscopic robotic surgical instruments suitable for simple abdominal surgery. Method: This paper presents a handheld single-port laparoscopic surgical robot. It consists of two manipulate arms, both of the arms have 2 degrees of freedom, and two more degrees of freedom can be applied by handheld. The left arm has the function of pulling tissue, while the right arm is equipped with a laser fiber, which can be used for tissue cutting and hemostasis with a 980nm diode laser. Kinematics analysis, dynamic simulation, modal analysis and vitro simulation experiments were conducted to verify the feasibility for the handheld single-port laparoscopic robot. Result: The bimanual surgical robot can provide enough workspace, the gripper and laser head have stable working ability, and can successfully complete the fenestration and drainage of hepatic cyst. Conclusion: This bimanual surgical robot has the potential to become a surgical instrument for simple intraperitoneal surgery. It can provide a small, portable and inexpensive surgical robot system.