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. Author manuscript; available in PMC: 2014 Aug 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Jun 19;19(3):996–1006. doi: 10.1109/TMECH.2013.2265804

Fig. 3.

Fig. 3

Prototype robot system for transnasal surgery at the skull base. The robot (on the left) actuates two cannulas composed of three tubes each. The cannulas are inserted through the nostril of an anatomical head model. For visualization of the surgical site, an endoscope is held in place by a passive arm. The master console (on the right) shows the endoscope view to the operator. Teleoperation is realized using two haptic input devices.