Master manipulator designed for highly articulated robotic instruments in single access surgery

Abstract

The performance of a master-slave robotic system depends significantly on the ergonomics and the capability of its master device to correctly interface the user with the slave robot. Master manipulators generating commands in task space represent a commonly adopted solution for controlling a range of slave robots while retaining an ergonomic design. However… (More)
DOI: 10.1109/IROS.2017.8202159

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