Towards a force-reflecting motion-scale system for microsurgery

This paper presents design aspects of a force-reflecting, motion-scaling teleoperation system for use in microsurgery experiments. A coarse-macro-micro approach is proposed. Two magnetically levitated wrists-a macro-master and a micro-slave-would share a common base positioned at the surgical site by a coarse-motion transport robot. The discussion includes features of the proposed system, a detailed slave wrist description, and aspects of coordination and control for the multistage teleoperation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>