Abstract
Surgical robots have been used recently in many medical applications, across a variety of hospitals and health centers. Much research has been done to improve the robustness and accuracy of these robots. This paper describes a unilateral master-slave system implemented to address medical application needs. The communication aspect is the most important characteristic in any master-slave system. Therefore, an improved system is proposed in this paper with reduced time delay between the master and slave systems. The source of latency between the master and slave systems was studied and formulated. Furthermore, real-time filtering and control algorithms were developed to successfully automate this system for practical applications. The results show the possibility of using the proposed system in medical applications such as chest surgery
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