1Mclzer A, Schurr Mo, Kunertw, etal. Intelligengt surgery instrument system ISIS. Concept and preliminary experimentalapplication of components and prototypes. Endosc Surg Allied Technol, 1993, 1:165-70.
3Morimoto AK, Foral RD, Kuhlman JL, et al. Force sensor for laparoscopic Babcock.Stud Health Technol Inform, 1997, 39:354-61.
4Wang YF, Uecker Dr, Wang Y. A new framework for vision-enabled and roboticallyassisted minimally invasive surgery. Comput Med Imaging Graph, 1998, 22:429-37.
5Voss G, Bockholt U, Los Arcos JL, et al. Lahystotrain intelligent training systemfor laparoscopy and hysteroscopy Stud Health Technol Inform, 2000, 70:359-64.