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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. In order to improve the operability of the robotic surgical systems, development of haptic forceps teleoperation systems is required to help surgeon's dexterity. In addition, the motion scaling, which can adequately reduce or enlarge the movements and tactile senses of the operator and the robot, is necessary...
A design of a sliding mode controller is given for a tele-robotic neurosurgical system in this paper. The proposed tele-robotic neurosurgical system with force, video, and voice feedback can be tele-operated through the Internet. However, time delay on the Internet may make the proposed system unstable if it is over 0.3s, therefore it is a critical issue to deal with the time delay effect occurring...
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