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A multilateral impedance-controlled system for haptics-enabled surgical training and cooperation in beating-heart surgery

Haptic FeedbackBeating-heart SurgeryMultilateral Impedance-controlled SystemComputer-assisted SurgeryDevice TherapyPhysical TherapyHaptics-enabled Surgical TrainingMotor ControlSurgeryElectrophysiologyRobot-assisted SurgeryMedicineMedical RobotAnesthesiologyHealth Sciences