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MINIMALLYINVAS IVE S URGICAL . .
APPARATUS Al ex a nder, III Imp a c ts o f tel ema tl o n o n mo dern s o c iety, Intl .
Centre f o r Mec h a nic a l S c ienc es , 1 s t CIS MIFTo MM S ym
( 7 5) Inv ento rs , Gu nter D_ Niemeyer, Mo u nta in View ; p o s iu m, o n Th eo ry a nd Pra c tic e o f Ro b o ts a nd Ma nip u l a
Ga ry s . Gu th a rt, Fo s ter City; W il l ia m Fo r? ) ( S ep - $82 1 97 3 ) V_ 1 - 1 1 , PP- 1 2 2 43 6- _
C_ No w l in, LOS Al to s ; Nitis h s w a ru p ; BTCJ CZ Y et a l . , C' o niro l l l ng remo te ma nip u l a tio ns th ro u g h
Greg o ry K _ To th , b o th o f S u nnyv a l e; l il Il eS Lh eLl C c o u p l l ng Co mp u ters in Mec h a nic a l Eng ineer
Ro b ert G. Yo u ng e, Po rto l a Va l l ey, a l l " 1 8 ( J u l - 1 983 ) PP- 486_ 0- _
o f CA ( Us ) Trev el ya n et a l . , Mo tio n c o ntro l f o r a s h eep s h ea rl ng
ro b o t, Firs t Int l . S ynp o s iu m, Ro b o tic s Res ea rc h , Editea ' b y
( 7 3 ) As s ig nee: Intu itiv e S u rg ic a l , Inc . , S u nnyv a l e, CA M- Bra dy a nd R- P 1 1 41 , M1 T P Fes s , Ca mb ridg e, MA) ( 1 984)
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p a tent is ex tended o r a dj u s ted u nder 3 5 tro nic s , Co ntro l a nd Ins tru menta tio n, ( Oc t. 2 2 2 6, 1 984) ,
U. S . C. 1 54( b ) b y 0 da ys . v o l . 1 : p p . 4045.
Fis h er, S . S . , Virtu a l interf a c e env iro nment, IEEE/ AIAA
( 2 1 ) APPL NO, 09 57 3 , 67 8 7 th Dig ita l Av io nic s S ys tems Co nf erenc e, ( Oc t. 1 3 1 6, 1 986)
( 2 2 ) E1 d A 1 3 1 999 Ft. W o rth , Tex a s , p p . 3 463 50.
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4, 7 62 , 455 A 8/ 1 988 Co u g h l a n et a l . . . . . . . . . . . . . . . 41 4/ 4
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5, 1 87 , 7 96 A 2 / 1 993 W a ng et a l . 3 95/ 800
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5, 81 0, 880 A 9/ 1 998 J ens en et a l . . . 62 6/ 2 05
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5, 82 0, 545 A 1 0/ 1 998 Arb ter eta l . . . 600/ 1 1 7
5, 855, 553 A 1 / 1 999 Ta j ima et a l . 600/ 407
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5, 859, 93 4 A 1 / 1 999 Green . . . . . . . . . . 3 82 / 2 96
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5, 91 1 , 03 6 A 6/ 1 999 W rig h t et a l . . . . . 3 95/ 94
5, 93 1 , 83 2 A 8/ 1 999 J ens en . . . . . . . . . . 606/ 1
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OTHER PUBLICATIONS
Fu ku da et a l . , A neW meth o d o f ma s ters l a v e typ e o f
tel eo p era tio n f o r a mic ro ma nip u l a to r s ys tem IEEE
Mic ro ro b o ts a nd Tel eo p era to rs W o rks h o p ( 1 987 ) , 5 p a g es .
Fu ru ta et a l . , Ma s ters l a v e ma nip u l a to r b a s ed o n v irtu a l
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K W o h , et a l . , A ro b o t W ith imp ro v ed a b s o l u te p o s itio ning
a c c u ra c y f o r CT g u ided s tereo ta c tic b ra in s u rg ery, IEEE
Tra ns a c tio ns o n Bio medic a l Eng ineering , ( Feb . 1 998) , v o l .
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h a rd c o nta c t in f o rc e re? ec ting tel eo p era tio n, IEEE ( 1 988)
p p . 584589.
K a Z ero o ni, H. , Hu ma n/ ro b o t intera c tio n v ia th e tra ns f er o f
p o W er a nd inf o rma tio n s ig na l s , Pa rt I: Dyna mic s a nd c o ntro l
a na yl s is , IEEE, CH2 7 50, ( 8/ 89) p p . 1 63 2 1 640.
Bo ro v o i, A. V. , S ta b il ity o f a ma nip u l a to r W ith f o rc e f eed
b a c k, Iz v . AN S S S R Mekh a nika T v erdo g o Tea l , ( 1 990) v o l .
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Ino u e et a l . , S iX a X is b il a tera l c o ntro l o f a n a rtic u l a ted
s l a v e ma nip u l a to r u s ing a Ca rtes ia n ma s ter ma nip u l a to r,
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Ada ms et a l . , Co mp u tera s s is ted s u rg ery, IEEE Co mp u ter
Gra p h ic s &Ap p l ic a tio ns , ( Ma y 1 990) p p . 43 51 .
K im et a l . , Ac tiv e c o mp l ia nc e a nd da mp ing in tel ema nip u
l a to r c o ntro l , J et Pro p u l s io n La b o ra to ry New Tec h no l o g y
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1 991 ) v o l . 1 5, No . 4, Item 40, p p . i1 4a .
Co l g a te, J . EdW a rd, Po W er a nd imp eda nc e s c a l ing in b il a t
era l ma nip u l a tio n, Pro c eeding s o f 1 991 IEEEIntl . Co nf o n
Ro b o tic s a nd Au to ma tio n, S a c ra mento , CA, ( Ap r. 1 991 ) p p .
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Bu rdea et a l . , DeX tro u s tel ero b o tic s W ith f o rc e f eedb a c k
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Hu rtea u et a l . , La p a ro s c o p ic s u rg ery a s s is ted b y a ro b o tic
c a mera ma n: Co nc ep t a nd ex p erimenta l res u l ts , I444 Intl .
Co nf . o n Ro b o tic s a nd Au to ma tio n, ( Ma y 81 3 , 1 994) p p .
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Hil l et a l . , Tel ep res enc e s u rg ery demo ns tra tio n s ys tem,
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Ta u b es , G. , S u rg ery in c yb ers p a c e, Dis c o v er ( Dec . 1 994)
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K a Z ero o ni et a l . , Th e dyna mic s a nd c o ntro l o f a h a p tic
interf a c e dev ic e, IEEE Tra ns a c tio ns o n Ro b o tic s a nd Au to
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Neis u s et a l . , Ro b o tic ma nip u l a to r f o r endo s c o p ic h a ndl ing
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Ma s s ie et a l . Th e p h a nto m h a p tic interf a c e: a dev ic e f o r
p ro b ing v irtu a l o b j ec ts , Pro c eeding s o f th e AS ME W inter
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c a ted v ieW a nd o p era tio n p o ints a nd a ro ta tio na 1 f o rc ef eed
b a c kf ree ma s ter ma nip u l a to r, 2 nd Annu a l Intl . S ymp o s iu m
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tel eo p era ted s u rg ic a l ro b o ts , IEEE Tra ns a c tio ns o n Ro b o t
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* c ited b y eX a rniner
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