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We have begun development of a telerobotic system to replace a human camera operator in endoscopic surgical procedures. The system will consist oj ‘ U remote centeroFm:motion manipulator holding the endoscope; U computer workstation supporting image processing, graphicx, manipulator control, and other junctions; and a variety oj ‘ man-machine interfirces (voice, instrumented joystick, etc.). A prototype system using an industrial robot has been implemented and used to demonstrate essential Junctiorzs.
Taylor et al. (Thu,) studied this question.