| The surgical master, which has 7 degrees of freedom, is the primary interface between the surgeon and the laparoscopic surgery platform, providing force and tactile feedback. In this design, a commercial 4 DOF force-reflecting joystick device (Immersion Systems' Impulse Engine 3000) is extended with additional degrees of freedom and a stylus-like handle to be grasped by the user. The interface will include finger masters with a stereo tactile display unit. |
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