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Transurethral resection of bladder tumors (TURBT) presents surgeons with challenges of limited tool dexterity. This paper investigates the limitations of dexterity and resection reach and accuracy within the intra-vesicular space of the bladder. The paper assumes the kinematics and geometry of current tools used for TURBT. The study presents a kinematic(More)
In a master-slave telerobotic system controllers are inevitably implemented digitally. In addition to discretization as an outcome of digital implementation, the presence of delays in communication channels compromises stability as well as transparency. Therefore the designer has to take into account both of these factors in designing a stable teleoperator(More)
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