Fig. 3
From: Evaluation of the Toumai robotic system in partial nephrectomy and key system features
Sensory feedback and advanced imaging features of Toumai robotic demonstrating high-response master slave response, advanced imaging technologies include the FPGA real-time image processing and Visual enhancement technologies. The Toumai robotic system incorporates advanced force sensing and feedback technology, with a masterslave frequency of 4000 Hz and a response time of 250 μs to enhanced high-response master slave response (upper panel). Advanced imaging technologies include the FPGA real-time image processing and dual fiber optic transmission with faster image acquisition and transmission, reducing latency to less than 50 ms. Visual enhancement technologies, including the Vascular Enhancement Algorithm and Intelligent Smoke Removal Algorithm (lower panel).
