Robotics for telesurgery: second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications

摘要

Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through using millimeter‐scale robotic manipulators under the control of the surgeon. In this paper, the telesurgical system will be introduced with discussion of kinematic and control issues and presentation of in vitro experimental evaluation results.