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http://dx.doi.org/10.5302/J.ICROS.2006.12.9.918

Development of Telerobotic Surgery System with Single-Master Multi-Slave  

Hwang, Gil-Gueng (동경대학 생산기술연구소)
Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Hashimoto, Hedeki (동경대학 생산기술연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.9, 2006 , pp. 918-925 More about this Journal
Abstract
Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.
Keywords
teleoperation; haptic interface; internal force; kinematics; dual-manipulator;
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