An instrumentation aystem with force feedback, automatic recognition and skills for cardiac telemanipulation

In the last decade, the advancement of endoscopic and minimally invasive surgery has had a significant impact on patients and surgeons in various surgical fields. But in heart surgery the design of telemanipulators did not leverage endoscopic procedures. The focus is on building an experimental system for endoscopic and minimally invasive heart surgery which provides force feedback. In addition automating endoscopic surgical skills like knot-tying are implemented.