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Teleoperation of Robot for Surgical Assistance

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The surgical assistance with robots is an emerging field that promises new benefits in traditional surgeries. One of these benefits is represented by the efficient communications protocols that can be used remotely with manipulators which with an adequate control will allow an accuracy comparable to that of a surgeon. Normally these developments are made in a structure of a master-slave system, therefore in this investigation Quanser HD2 haptic device is adapted to remotely control a robotic manipulator. The study results from the interaction of these devices are shown in a surgical trial where positive conclusions are reflected in the data transmission and in the feedback forces received by the user. Its advances are useful for universal adaptation of haptic devices and robotic manipulators in the surgical assistance.
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Master-Slave Systems; Kinematic Decoupling; Surgical Teleoperation

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