A force reflective master-slave system for minimally invasive surgery
- 30 March 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3077-3082
- https://doi.org/10.1109/iros.2003.1249629
Abstract
Minimally invasive surgery involves in- serting special instruments into the body cavity through tiny incisions in order to perform surgical pro- cedures. In this paper, the design of a robotic master- slave system for use in minimally invasive surgery is discussed. This system is capable of providing haptic feedback to the surgeon in all available degrees of free- dom. System design as well as master and slave bilateral control and communication issues are discussed.Keywords
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