Deals with devices and methods required for incorporating haptic feedback in master-slave robotic MIS systems. This monograph compares haptic teleoperation control schemes in terms of stability and performance, and investigates passivity-based time delay compensation for haptic teleoperation over a long distance using the master-slave system.

First published in 1999, this eclectic collection of papers examines quality management in health care from a variety of standpoints. Managers, health care professionals and patients all have valid - but often differing - perspectives on the nature of quality, its creation and maintenance. This book explores these perspectives, beginning by asking such fundamental questions as `Is health care a business?', `How should health services be designed?' and `What is quality of care?'. Subsequent chapters then address the practicalities of measuring and improving health care quality. The chequered...