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With the introduction of telerobotic systems, it has become possible for surgeons to perform medical operations at greater physical distances from their patients. Whether in an adjacent room or on another continent, these systems enable greater flexibility in mitigating adverse surgical conditions. These ideas originally came from the space research, where further needs emerged to advance robots that...
Besides the motion control issues and problems arising in general robotic applications, control engineers frequently encounter difficulties in designing robotic surgery systems due to the complex environmental constraints present. One of the most challenging problems is caused by the unique behavior of soft tissues under manipulations such as grabbing, cutting and indentation. The appropriate modeling...
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