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Design of a minimally invasive surgical teleoperated master-slave system with haptic feedback

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5 Author(s)
van den Bedem, L. ; Dept. of Mech. Eng., Tech. Univ. Eindhoven, Eindhoven, Netherlands ; Hendrix, R. ; Rosielle, N. ; Steinbuch, M.
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Conventional Minimally Invasive Surgery (MIS) is performed with long and slender camera and instruments through at least three small incisions. However, it generally provides the surgeon with an uncomfortable body posture, limited force feedback and unnatural eye-hand-coordination. A master-slave system with force feedback is being developed, since such a system can overcome the inconveniences of MIS. This paper is about the design of the master and the slave.

Published in:

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Date of Conference:

9-12 Aug. 2009