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5), with a 6-axis force sensor mounted at the tip of the wrist. An intracorporal 3-dof instrument can be attached to the wrist force sensor, providing full mobility to the tool tip. To cope with the high dynamics of the beating heart together with the low friction requirements for haptic interface, direct drive actuators have been preferred. The joint ranges are such that the instrument can be manipulated as the surgeon does it manually. 5. The architecture has also been specified to control two or three master-slave devices.

Video recorded from the device was displayed for the surgeon on the computer monitor (shown in Fig. 4). Locomotion was also captured on a handheld video camera as the device traveled approximately 50 mm across the epicardium from the left ventricle to the right ventricle, crossing the left anterior descending coronary artery (LADA), as shown in Fig. 5. A cardiac surgeon verified that no damage was done to the epicardium as a result of the prehension or locomotion. 4 Discussion The results presented herein demonstrate the feasibility of adhering to and maneuvering on the epicardium of a beating heart using the HeartLander prototype.

Each DDU is composed from a Snake-Like Unit (SLU) and a detachable Parallel Manipulation unit (PMU). The proposed design of the DDU’s provides an enhanced downsize scalability and distal dexterity that are crucial for medical applications such as laryngeal surgery where simultaneous manipulation of 2-3 long tools through a narrow laryngeoscope is required. 2 mm diameter SLU to be used for constructing the first DDU for the 3-armed slave robot. 1 Introduction Previous work on telerobotic systems for MIS (Minimally Invasive Surgery) has focused on endoscopic surgery of the chest and abdomen while using several different mechanical architectures for slave robots.

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A simplified Introduction to LaTeX by Greenberg H.J.


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