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. 2018 Sep 20;66(5):1207–1221. doi: 10.1109/TBME.2018.2870542

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0018-9294 © 2018. This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/

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Fig. 4. — Experiment layout; an endometriosis model is placed remotely. The grasper is used to put the tissue under tension; the CO laser is handled to remove a superficial patch while maximally keeping healthy tissue intact. The grasper is equipped with a force measurement system consisting of a pair of extra-corporeal force sensors. Both instruments access the region through a trocar. The laparoscope robot is controlled unilaterally while the grasper can be controlled either unilaterally or bilaterally.

Inline graphic — Experiment layout; an endometriosis model is placed remotely. The grasper is used to put the tissue under tension; the CO laser is handled to remove a superficial patch while maximally keeping healthy tissue intact. The grasper is equipped with a force measurement system consisting of a pair of extra-corporeal force sensors. Both instruments access the region through a trocar. The laparoscope robot is controlled unilaterally while the grasper can be controlled either unilaterally or bilaterally.