Although substantial progresses have been made in robot-assisted laparoscopic surgery,
the graspers for existing surgical systems generally remain nonsensorized forceps design …

The surgical paradigm of minimally invasive surgery (MIS) has been a key driver to the
adoption of robotic surgical assistance. Progress in the last three decades has led to a …

The field of robotic surgery increasingly advances towards highly articulated and continuum
robots, requiring new kinematic strategies to enable users to perform dexterous …

Laparoscopic partial nephrectomy for localized renal tumors is an upcoming standard
minimally invasive surgical procedure. However, a single-site laparoscopic approach would …

Three experiments were carried out to determine absolute and differential thresholds for
vibrotactile forces and external influences in the frequency range of 5 to 1,000 Hz at the tip of …

In this paper, we develop possible realizations of pseudo-haptic feedback in teleoperation
systems based on existing works for pseudo-haptic feedback in virtual reality and the …

The performance of a master-slave robotic system depends significantly on the ergonomics
and the capability of its master device to correctly interface the user with the slave robot …

We present a new teleoperation setup for minimally invasive single-port surgery through
natural orifices. The system consists of an intra-corporal parallel slave robot with two …

Single port surgery is an innovative approach in the field of minimally invasive surgery.
Although several telemanipulators exist to perform operations through only a single incision …

Haptic feedback for minimally invasive surgery is a widely debated topic, especially force
sensors for this kind of application are thoroughly researched. The current state-of-the-art …