Journal of Robotics / 2012 / Article / Fig 2

Review Article

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

Figure 2

(a) The design for a dual-arm robot for use in ophthalmic surgery. Two parallel robots are perched upon a fixation halo, and each can hold modular instruments [5]. (b) The 4-DOF parallel platform manipulator is integrated with a 3-DOF needle driver module to provide 7-DOF needle motion for prostate interventions [6].
(a) Parallel robot for ophthalmic therapy
(b) Parallel robot for prostate needle therapy