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

Figure 4

(a) Black Falcon robotic system developed at MIT for laparoscopic surgery [9]. (b) Laparoscopic telesurgical workstation jointly developed by the UC Berkeley and UC San Francisco [10]. Both systems aim to enhance the dexterity and sensation of minimally invasive surgery through using scaled robotic manipulators under the control of the surgeon.

(a) Black Falcon laparoscopic robot

(b) Robotic telesurgical workstation by UCB & UCSF