Journal of Robotics / 2012 / Article / Fig 1

Review Article

Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis

Figure 1

(a) Surgeon operating da Vinci system (by Intuitive Surgical Inc.) for telesurgery. (b) Endowrist is a feature of the robotic system, with multi-DOF at its end effectors. The robotic system provides high dexterity, hand-tremor cancellation, and three-dimensional views for the endoscopic surgery [4].
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(a) Setup in a hospital’s operating room
412816.fig.001b
(b) Endowrist instrument end effector