Towards a Force-Reflecting Motion-Scaling System for Microsurgery
نویسندگان
چکیده
This paper presents design aspects of a forcere ecting, 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 multi-stage teleoperation.
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