OVERVIEW OF THE STATE OF ARTS ON CONTROL OF SCALED TELEMANIPULATED SYSTEM FOR MINIMALLY INVASIVE SURGERY

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.