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Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. In this paper, the design of a robotic master-slave system for laparoscopic surgery is discussed. A compact and light weight forceps's manipulator using pneumatic artificial muscles (PAMs) is used on...
This paper presents the first prototype of pneumatically-driven forceps manipulator using a simple flexible joint with intrinsic force sensing. A high performance spring component with wire actuation is employed for two-degree of freedom (DOF) bending joint, and two-DOF tendon drive system is implemented by four pneumatic cylinders. Using a continuum model for the kinematics, a PD controller with...
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