Design Issues In A Haptics-Based Master-Slave System For Minimally Invasive Surgery
Abstract—Minimally invasive surgery (MIS) is an alternative to open surgery where special instruments are inserted into the body cavity through tiny incisions in order to perform surgical procedures. In this paper, some design issues in a master-slave robotic system for use in MIS are discussed. First, we discuss the design of a user interface that can be used to incorporate haptic interaction in robot-assisted MIS. Then we discuss the design of a laparoscopic end effector that meets MIS requirements and is instrumented for haptic feedback.