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Workflow of the master-slave robotic system.Figure 1 from a surgeon’s habits-based novel master manipulator for the Master robot and slave on a cylindrical support sheet. (a) master with(pdf) enhancement of a master-slave robotic system for natural orifice.

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Slave robot guidance flowchart.
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The whole view of the slave robot (a) and the monitor of angiography
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Figure 1 from A review of master-slave robotic systems for surgery

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