Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector

@article{Tavakoli2005HapticII,
  title={Haptic interaction in robot‐assisted endoscopic surgery: a sensorized end‐effector},
  author={Mahdi Tavakoli and R. V. Patel and Mehrdad Moallem},
  journal={The International Journal of Medical Robotics and Computer Assisted Surgery},
  year={2005},
  volume={1}
}
Conventional endoscopic surgery has some drawbacks that can be addressed by using robots. The robotic systems used for surgery are still in their infancy. A major deficiency is the lack of haptic feedback to the surgeon. In this paper, the benefits of haptic feedback in robot‐assisted surgery are discussed. A novel robotic end‐effector is then described that meets the requirements of endoscopic surgery and is sensorized for force/ torque feedback. The endoscopic end‐effector is capable of non… 
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