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Laparoscope manipulating robot is useful for maintaining a stable view during a laparoscopic operation. However, a large apparatus can interfere with surgical space, set-up time and repositioning. Furthermore, it consumes a lot of initial and maintenance cost. Ten consecutive robotic assisted laparoscopic pelvic surgeries were performed in order to study the maximum and optimal motion-angle in difference...
This work focuses on the implementation of a vision-based motion guidance method, called virtual fixtures, on admittance-controlled human-machine cooperative robots with compliance. The robot compliance here refers to the structural elastic deformation of the device. The high mechanical stiffness and non-backdrivability of a typical admittance-controlled robot allow for slow and precise motions, making...
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