1Freschi C,Ferrari V, Melfi F, et al. Techrical review of the da Vinci surgical telemanipulator [ J ]. Int J Med Rohol. 2013.9 (4) :396-406.
2Zemiti N,Morel G, Ortmaier T, et al. Mechatnmic design of a new robot for force control in ulinimallv invasive surgeo [ J ]. IEEE/ASME T Mech, 2007,12 ( 2 ) : 143-153.