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When using commercialized robot assisted laparoscopic such as Da Vinci, surgeon has met some problem to depend only on the information by visual feedback. To solve this problem, haptic function is required. In order to realize the haptic teleoperation system, force feedback and bilateral control system are needed. The previous researches showed that the perturbation value estimated by sliding perturbation...
In a surgery using a commercialized robot for laparoscopic surgeries such as Da Vinci, a surgeon performs a surgery only depending on visuals by cameras. As contact reaction force between a robot instrument for surgeries and organs during this kind of surgery, problems such as organ impairment, etc. occurs. In order to resolve this kind of problem, this paper introduces possibility of haptic function...
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