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Magnetic Surgical Instruments for Robotic Abdominal Surgery.

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Figure

Fig. 1: Schematic representation of the abdominal surgery techniques. a) Minimally Invasive Surgery (MIS) scheme; each surgical tool requires a single port(trocar)
Fig. 3: Operation principle of MAGS with on board conventional actuation
Fig. 4: Illustration of MAGS with robotic actuation
Fig. 5: Electromagnet coils replacing permanent magnets in the externalactuation unit for higher level control in LEMA [86]
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