Design of a Minimally Invasive Surgical Teleoperated Master-Slave System with Haptic Feedback

Conventional Minimally Invasive Surgery (MIS)is performed with long and slender camera and instruments through at least three small incisions. However, it generally provides the surgeon with an uncomfortable body posture, limited force feedback and unnatural eye-hand-coordination. A masterslave system with force feedback is being developed, since sucha system can overcome the inconveniences of MIS. This paper is about the design of the master and the slave