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].
