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Minimally invasive surgery (MIS) challenges the surgeon's skills due to his/her separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon looses access to the manipulation forces inside the patient. This reduces his/her dexterity when performing the operation. A new compact and lightweight robot for MIS is presented, which allows for the measurement...
In this paper, a generic approach to optimize the design of an actuated carrier for the DLR multi-arm surgical system is presented. The carrier is attached to the ceiling of the operating room and provides additional degrees of freedom to the surgical robots with the purpose of automatic, optimal positioning of their bases as well as guaranteeing high stiffness. Standard workspaces of minimally invasive...
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