A Telemanipulator system as an assistant and training tool for penetrating soft tissue
Journal
Mechatronics
Journal Volume
6
Journal Issue
4 SPEC. ISS.
Pages
423-436
Date Issued
1996
Author(s)
Abstract
The requirements are described of a telemanipulator system for assisting in the penetration of soft tissue for medical tasks. A simulation model of events is required to control the procedure. The same model can also be used by the telemanipulator for training purposes. The underlying theory and control of a telemanipulator demonstrator is described, together with a discussion of system requirements. A number of test results are discussed which illustrate the capability of this mechatronics device for use both as a surgeon assistant and as a training aid. Copyright © 1996 Elsevier Science Ltd.
Type
journal article