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A robotic surgery system for two-hand manipulation with integrated force feedback and 3D vision, designed by researchers at DLR, Germany. The system consists of a specially designed dexterous force-sensing instrument, robotic arms and teleoperation controller, and haptic device commercially available from Force Dimension, Inc. (Lausanne, Switzerland) as the master manipulator. Original figures used with permission from B. Kuebler, DLR.
