Minimally invasive surgery is an important issue from the point of view of patients' Quality of Life (QoL). An endoscopic surgery is one of the minimally invasive surgeries.With the endoscopic surgery, pain could be less. This operation, however, has difficulty, and surgeons have to be well trained.To solve this problem, an endoscopic surgery system based on haptic teleoperation was proposed. The characteristic of the system is position and force information is transmitted bilaterally between master and slave…
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