Development of Master/Slave Tele-operation System for Minimally Invasive Surgery

This paper discusses the development of a tele-operation system for minimally invasive surgery. This system is composed of a master and slave station. The master station contains two haptic devices. The architectures of these devices are presented here. These devices control two surgical robots using the geometrics and kinematics models of booth the slave and master robots. Those models are presented in this paper.