刘少强, 黄惟一, 王爱民, 宋爱国. 用于微创外科手术的遥控机器人系统研究现状及趋势[J]. 机器人, 2002, 24(3): 283-288..
LIU Shao-qiang, HUANG Wei-yi, WANG Ai-min, SONG Ai-guo . OVERVIEW OF THE STATE OF ARTS ON CONTROL OF SCALED TELEMANIPULATED SYSTEM FOR MINIMALLY INVASIVE SURGERY. ROBOT, 2002, 24(3): 283-288..
摘要用于微创外科手术（Minimally Invasive Surgery 简称MIS）的主从式遥控机器人系统是医疗中的MIS技术与遥操作技术的结合， 本文主要对具有力觉临场感的比率遥控机器人用于MIS时的控制特点要求和控制理论技术的研究现状进行了综述，强调了用于MIS和用于生物工程、微机械等领域的遥控机器人系统在控制上的异同， 对用于MIS的比率遥控机器人系统控制中有待研究的一些关键问题提出了见解．
Abstract：Master-slave telerobotic system for minimally invasive surgery is the combination of MIS technologies in medicine and telemanipulation technologies. Focused on the scaled telemanipulated system with force telepresence for MIS, this paper overviews the state of arts of the requirements and technology of control. The distinction of control is imposingly demonstrated between the scaled telemanipulted system for MIS and that for bioengineering and micro-mechanical system. Some important issues to study in the future are discussed.
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