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Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery.<\/jats:p>","DOI":"10.1177\/0278364909104276","type":"journal-article","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T22:09:33Z","timestamp":1242770973000},"page":"1198-1215","source":"Crossref","is-referenced-by-count":83,"title":["A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery"],"prefix":"10.1177","volume":"28","author":[{"given":"Peter","family":"Berkelman","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii-Manoa, 2540 Dole Street, Honolulu, HI 96822, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Ji Ma","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Hawaii-Manoa, 2540 Dole Street, Honolulu, HI 96822, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,19]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA\u201902)","author":"Adhami, L."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817061"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-001-9174-7"},{"issue":"1","key":"atypb4","first-page":"1","volume":"10","author":"Berkelman, P.","year":"2005","journal-title":"Computer Aided Surgery"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2004.p0513"},{"key":"atypb6","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Berkelman, P.J."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817526"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/s004640020066"},{"key":"atypb9","volume-title":"International Conference on Robotics and Automation","author":"Butner, S.E."},{"key":"atypb10","first-page":"73","volume":"12","author":"Coa, C.G.L.","year":"2004","journal-title":"Surgical Technology International"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/S1010-7940(99)00356-5"},{"key":"atypb12","volume-title":"Clinical experience with a goniometric head-controlled laparoscope manipulator","author":"Finlay, P.A.","year":"1996"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1016\/S0039-6109(03)00171-3"},{"key":"atypb14","volume-title":"Medicine Meets Virtual Reality: Health Care in the Information Age","author":"Geis, W.P."},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Guthart, G.S. and Salisbury, J.K. 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