Master-Slave Surgical Tool pair of robotized minimally invasive surgical instruments. The goal of this project is to design a mechanism to operate remotely a surgical instrument with force feedback. The left image shows the two chassis supporting the instruments. In the right image, a custom made torque sensor is used to reproduce in the master side the resistance encountered by the slave.

This project has been developed in collaboration with the Minimally Invasive Surgical Center of Cáceres, Spain and the group of Professor Félix Monasterio at the Universidad Politécnica de Madrid.