..., kinematic analysis, and teleoperation algorithm are introduced in detail. The simulation shows that the catheter centerline can be oriented toward the target tissue over a large area, thus providing a better initial position for the surgical instruments and enlarging the workspace of the instruments...

...Ali Talasaz; Ana Luisa Trejos; Simon Perreault; Harmanpreet Bassan; Rajni V. Patel 25 08 2013 17 02 2014 This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery...