Comparison of the Control Designs of an Human Co-Working Endoscope Holder

摘要: The research addresses the design of an endoscope holding robot. minimally invasive surgery (MIS) usually takes many doctors to work together; only one surgeon is actually performing operation. One required hold and point camera at surgical area. This aims a robot fulfill function this doctor in place. paper demonstrates how achieve two main functions holders namely: maintain entry into body actively move away from blocking their describes these goals based on regular six degree-of-freedom industrial robots. control could be implemented different levels control. experimental results show that implementation level controls each has its advantages disadvantages.