This paper describes the work on a prototype robotic system for removal of prostate tissue. The Robotic system has been specifically designed for the purpose and has been tried clinically. This represents a world first in the removal of quantities of tissue from human patients using a robotic system. The background to the design of the system hardware and software is discussed, together with the system constraints which have led to the series of clinical experiments.
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Davies et al. (1992) studied this question.
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