Towards a force-reflecting motion-scale system for microsurgery

TitleTowards a force-reflecting motion-scale system for microsurgery
Publication TypeConference Paper
Year of Publication1994
AuthorsSalcudean, S. E., and J. Yan
Conference NameRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Pagination2296 -2301 vol.3
Date Publishedmay.
Keywordsbiomedical equipment, coarse-macro-micro approach, coarse-motion transport robot, control, coordination, force control, force-reflecting motion-scale system, magnetically levitated wrists, micromechanical devices, microsurgery, multistage teleoperation, slave wrist, surgery, telerobotics

This paper presents design aspects of a force-reflecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists-a macro-master and a micro-slave-would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a detailed slave wrist description, and aspects of coordination and control for the multistage teleoperation


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