Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis
(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 . (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 .
(a) Parallel robot for ophthalmic therapy
(b) Parallel robot for prostate needle therapy
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