Design and experimental validation of a master manipulator with position and posture decoupling for laparoscopic surgical robot.
Yanqiang LeiYibin LiRui SongDechen WangTao ZhangGang ZhangFuxin DuPublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2022)
With the functions of positioning, gravity balance, and force feedback, our manipulator shows the potential for single port laparoscopic surgery.