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The master-slave control technology of isomeric surgical robot for minimally invasive surgery (MIS) is studied in order to meeting the requirement for robot MIS. The master-slave control hardware platform is built based on distributed fieldbus. The incremental control method based on separation of gesture from position is proposed by analyzing the master-slave structure configuration of the MIS robotic...
Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of...
This paper describes the design and development of a miniature 3-axis distal force sensor which can be applied in tissue palpation during minimally invasive surgery (MIS). The sensing principle is based on resistive sensing method that utilizes gauges to measure the strain of a flexible platform when exposed to a force. A novel tripod structure is designed and optimized as the flexible platform, it...
This paper presents the design and implementation of a medical robot for celiac minimally invasive surgery. Firstly, the mechanism structure of the robot is briefly introduced which has the feature of simple structure and high safety. Next, kinematics is presented by using the D-H method and the four groups of arm configuration is proposed with the Maximum Distance Criterion method, which provide...
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