Roll-pitch-roll Wrist Methods For Minimally Invasive Robotic Surgery ...

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Roll-pitch-roll Wrist Methods For Minimally Invasive Robotic Surgery ...

Abstract Essence

[the] [of] [and] [a] [to] [said] [is] [end] [for] [wrist] [axis] [in] [shaft] [control] [The] [operator] [by] [at] [effector] [are] [manipulator] [with] [system] [an] [means] [about] [comprising] [wherein] [longitudinal] [claim] [which] [image] [surgical] [shown] [member] [movement] [distal] [et] [al] [first] [right] [hand] [portion] [from] [workspace] [second] [left] [proximal] [apparatus] [arm] [section] [pivot] [as] [controller] [s] [further] [input] [FIG] [viewing] [invasive] [provided] [minimally] [point] [grippers] [be] [perpendicular] [operated] [through] [method] [invention] [robotic] [A] [manipulators] [may] [that] [feedback] [outer] [force] [between] [use] [pitch] [worksite] [11] [1] [not] [response] [master] [unit] [display] [includes] [In] [on] [freedom] [effectors] [jaw] [insertion] [same] [located] [above] [adjacent]