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

• Main Authors: Shen Treratanakulchai, Ferdinando Rodriguez Y. Baena
• 其他作者: Imperial College London
• 格式: Article
• 出版: 2022
• 主題: Computer Science; Engineering; Mathematics
• 在線閱讀: https://repository.li.mahidol.ac.th/handle/123456789/76677
• 機構: 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...