A Passive Decoupling Mechanism for Misalignment Compensation in Master-Slave Teleoperation

• Main Authors: Shen Treratanakulchai, Ferdinando Rodriguez Y. Baena
• Other Authors: Imperial College London
• Format: Article
• Published: 2022
• Subjects: Computer Science; Engineering; Mathematics
• Online Access: https://repository.li.mahidol.ac.th/handle/123456789/76677
• Institution: Mahidol University

Teleoperated robots are commonly used in minimally invasive surgery as they can control surgical instruments at a distance. An operator sends the motion command via a master console, which must convert these into suitable slave instrument actuator inputs for intuitive interaction. However, most mast...