Fig. 11From: A development of assistant surgical robot system based on surgical-operation-by-wire and hands-on-throttle-and-stickSetup for the in vitro test of semi-automatic resected object removal. a Overall system setup. b Built-in magnet of the surgical instrument to generate magnetic field. c Magnetic sensor with its controller board within the special housing. d Developed simulated trocar used in the in vitro testBack to article page