From teleoperation to autonomous robot-assisted microsurgery: A survey

Microsurgery requires manipulating delicate tissue or fragile structures such as small blood vessels, nerves, and tubes through a microscope. The operation accuracy of humans’ hand is about 0.1 mm under optimal conditions, which makes microsurgical operation challenging. Physiological tremors or high-frequency involuntary hand movements with amplitude over 100 mm may influence safety during microsurgical operations.

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