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This paper reports the error specifications and error analysis for a new cooperatively controlled ENT microsurgery robot. The new robot is designed for three specific ENT surgeries, endonasal skull base surgery, transoral laryngeal surgery, and cochlear implant surgery. The design requirements for the robot resolution, accuracy, stiffness, and repeatability for these surgery types are discussed and...
Robot-assisted minimally invasive surgery is new and promising applications of robotics, which can enhance the dexterity, provide high accuracy and can't be affected by the fatigue, tremor and so on. In this paper, a novel master-slave robot-assisted minimally invasive surgery system MicroHand A is introduced. The master-slave control system for MicroHand has been designed, which is modular and consists...
Minimally invasive surgery (MIS) has many advantages compared with the open surgery, but there are still many drawbacks in performing this kind of surgery. To overcome the problems, robotic technologies have been integrated. The surgical robotic systems can enhance the dexterity, provide high accuracy, do not affect by the fatigue, and have the possibility of remote operation. These advantages make...
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