System and method for controlling force applied to and manipulation of medical instruments

摘要: Apparatus for controlling force applied to and for manipula tion of a Surgical instrument. Movement and/or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the Surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the Surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the