Control design and implementation of a novel master–slave surgery robot system, MicroHand A

Compared with conventional minimally invasive surgery and open surgery, robotic‐assisted minimally invasive surgery can overcome or eliminate drawbacks caused by operator restrictions, motion limitation by the trocar and the image system, such as fatigue, trembling, low precision, constrained degree‐of‐freedom, poor hand–eye coordination and restricted surgical vision. In this paper, a novel partly tendon‐driven master–slave robot system is proposed to assist minimally invasive surgery and a master–slave control architecture is developed for abdominal surgical operations.

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