A laparoscopic telesurgical workstation
Cavusoglu, M.C.; Tendick, F.; Cohn, M.; Sastry, S.S.
Robotics and Automation, IEEE Transactions on
Volume 15, Issue 4, Aug 1999 Page(s):728 - 739
Digital Object Identifier   10.1109/70.782027
Summary:In this paper, various aspects of robotic telesurgery are studied. After a general introduction to laparoscopic surgery and medical applications of robotics, the UC Berkeley/Endorobotics Inc./UC San Francisco Telesurgical Workstation, a master-slave telerobotic system for laparoscopic surgery, is introduced, followed by its kinematic analysis, control, and experimental results. Some conceptual and future issues on telesurgery are discussed, including teleoperation and hybrid control, focusing on the special requirements of telesurgery

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