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This paper describes the design of a 1 dof teleoperation system aiming at performing a needle insertion task through an endoscope. The mechanical design of the master accounts for issues of ergonomics and performance (low inertia and friction force), while issues of ergonomics and instrumentations guided the design of the slave device. A complete simulator of the master / slave device together with...
The work reported in this paper is part of a project aiming at designing a teleoperated tool to perform a needle insertion task through an endoscope. The focus is on the design of the master interface. The proposed mechanical design ensures that the gesture performed by the operator is as close as possible to the original clinical gesture. As this design does not allow for an easy measurement of the...
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