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Magnetic instruments for laparoscopic surgery have the potential to enhance triangula-tion and reduce invasiveness, as they can be rearranged inside the abdominal cavity and do not need a dedicated port during the procedure. Onboard actuators can be used to achieve a controlled and repeatable motion at the interface with the tissue. However, actuators that(More)
We propose local magnetic actuation (LMA) as an approach to robotic actuation for surgical instruments. An LMA actuation unit consists of a pair of diametrically magnetized single-dipole cylindrical magnets, working as magnetic gears across the abdominal wall. In this study, we developed a dynamic model for an LMA actuation unit by extending the theory(More)
Teleoperated robotic surgery allows filtering and scaling the hand motion to achieve high precision during the surgical interventions. Teleoperation represents a very complex sensory-motor task, mainly due to the kinematic and kinetic redundancies that characterize the human motor control. It requires an intensive training phase to acquire sufficient(More)
Transcranial magnetic stimulations have provided invaluable tools for investigating nervous system functions in a preoperative context; in this paper we propose an innovative tool to extend the magnetic stimulation to an open skull context as a promising approach to map the brain cortex. The present gold standard for intraoperative functional mapping of the(More)
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