In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery

Table 1

Modular remote controlling system operating modes.

Operating mode	Actuation speed	Ideal number of modules	Pros	Cons
Absolute master-slave mapping	User-dependent	4	Natural operation	User dependent action speed control
Delayed master-slave mapping	Set to 0.1 rad/sec	4–6	Predictable conformation	Unpredictable positioning and orientation
Preprogrammed	Set according to the desired action	4–6	Locomotion	No user interaction