Operator Performance in Surgical Telemanipulation

@article{Kazi2001OperatorPI,
  title={Operator Performance in Surgical Telemanipulation},
  author={Arif Kazi},
  journal={Presence: Teleoperators & Virtual Environments},
  year={2001},
  volume={10},
  pages={495-510}
}
The application of telemanipulator systems in minimally invasive surgery (MIS) poses high demands on the quality of force feedback. Forces exerted on the tissue are often small and should be reflected back amplified to the surgeon. The dynamic behavior of a telemanipulator system can be adjusted in three basic ways to guarantee sufficient stability robustness in spite of high force scaling factors: by scaling down the surgeon's input motion, by increasing the compliance at the slave arm, and/or… CONTINUE READING
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