This paper presents a review of the major haptic feedback teleoperation systems for
micromanipulation. During the last decade, the handling of micrometer-sized objects has …

In micromanipulation, the size of the manipulated object is usually much less than 1 mm in a
single dimension, in which case gravitational and inertial forces are no longer dominant …

A dexterous micro-manipulation system has been developed for applications in assembling
micro-machines, manipulating biological cells, and performing micro-surgery. We have …

This paper describes the development of a prototype robotic endoscope for gastrointestinal
diagnosis and therapy. The goal of this device is to access, in a minimally invasive fashion …

The design of a bilateral teleoperation controller is a nontrivial problem. The goal is to
achieve a stable system with optimal performance in the possible presence of time delays …

This paper presents a two-channel architecture and design approach that enables a
simultaneous increase in the transparency and stability robustness of a bilateral …

We propose an alternative control algorithm for a scaled telemanipulation system using the
task-oriented virtual tool dynamics. The aim of the proposed virtual tool approach is to …

The application of telemanipulator systems in minimally invasive surgery (MIS) poses high
demands on the quality of force feedback. Forces exerted on the tissue are often small and …

In the teleoperation between different-scale worlds, it is important to consider the scaling
effect problem. An impedance shaping bilateral teleoperation that considers this problem is …

Manual pronuclei injection and intracytoplasmic sperm injection (ICSI) requires long training
and has low success rates primarily due to poor control over the injection force …