Mechanical Characterization of the Immersion Corp. Haptic, Bimanual, Surgical Simulator Interface

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Conference Proceeding
Proceedings of International Symposium on Experimental Robotics: Springer Tracts in Advanced Robotics - Experimental Robotics VIII, 2003, 5 pp. 106 - 112
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In this paper the design of a bimanual haptic interface device for simulation of minimally invasive surgical procedures is described. Each of the two handles has five haptic degrees of freedom. The workspace of the device was designed to accommodate the working volumes required by a set of common minimally invasive abdominal surgical procedures. Preliminary measurements of the electromechanical performance of the device are also presented.
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