M. Hirano, Morphological Structure of the Vocal Cord as a Vibrator and its Variations, Folia Phoniatrica et Logopaedica, vol.26, pp.89-94, 1974.

P. A. Liverneaux, S. H. Berner, M. S. Bednar, S. J. Parekattil, G. M. Ruggiero et al., Telemicrosurgery: robot-assisted microsurgery, 2012.

N. Deshpande, M. Chauhan, C. Pacchierotti, D. Prattichizzo, D. G. Caldwell et al., Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery, IEEE 38th Annual International Conference of the. IEEE, pp.5156-5159, 2016.

N. Simaan, R. Taylor, and P. Flint, A Dexterous System for Laryngeal Surgery, Proc. Intl. Conf. on Robotics and Automation, pp.351-357, 2004.

C. He, K. Olds, I. Iordachita, and R. Taylor, A New ENT Microsurgery Robot: Error Analysis and Implementation, Proc. Intl. Conf. on Robotics and Automation, pp.1221-1227, 2013.

S. Wang, Q. Li, J. Ding, and Z. Zhang, Kinematic Design for Robotassisted Laryngeal Surgery Systems, Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp.2864-2869, 2006.

C. M. Rivera-serrano, P. Johnson, B. Zubiate, R. Kuenzler, H. Choset et al., A Transoral highly flexible robot: Novel technology and application, vol.122, pp.1067-71, 2012.

C. A. Solares and M. Strome, Transoral Robot-assisted CO 2 Laser Supraglottic Laryngectomy: Experimental and Clinical Data, The Laryngoscope, vol.117, issue.5, pp.817-820, 2007.

S. C. Desai, C. K. Sung, D. W. Jang, and E. M. Genden, Transoral Robotic Surgery using a Carbon-dioxide Flexible Laser for Tumors of the Upper Aerodigestive Tract, The Laryngoscope, vol.118, issue.12, pp.2187-2189, 2008.

. Da-vinci-surgical and . System, Intuitive Surgical Inc. CA, USA. Accessed on, vol.07, 2016.

T. Maier, G. Strauss, M. Hofer, T. Kraus, A. Runge et al., A New Micromanipulator System for Middle-Ear Surgery, Proc. Intl. Conf. on Robotics and Automation, pp.1568-1573, 2010.

L. Meli, C. Pacchierotti, and D. Prattichizzo, Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation, International Journal of Medical Robotics and Computer Assisted Surgery, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01482249

L. Meli, C. Pacchierotti, and D. Prattichizzo, Sensory subtraction in robot-assisted surgery: fingertip skin deformation feedback to ensure safety and improve transparency in bimanual haptic interaction, IEEE Transactions on Biomedical Engineering, vol.61, pp.1318-1327, 2014.

E. C. Kinzel, J. P. Schmiedeler, and G. R. Pennock, Function generation with finitely separated precision points using geometric constraint programming, Journal of Mechanical Design, vol.129, issue.11, pp.1185-1190, 2007.

G. Gogu, Chebychev grubler kutzbachs criterion for mobility calculation of multi-loop mechanisms revisited via theory of linear transformations, European Journal of Mechanics-A/Solids, vol.24, issue.3, pp.427-441, 2005.

, Accessed on 6th, Sigma 7, Product Overview, 2016.

J. G. Dawes, Do data characteristics change according to the number of scale points used an experiment using 5 point, 7 point and 10 point scales, International journal of market research, vol.51, issue.1, 2008.

L. N. Verner and A. M. Okamura, Effects of translational and gripping force feedback are decoupled in a 4-degree-of-freedom telemanipulator, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC07), pp.286-291, 2007.

E. Theodorsson-norheim, F. , and Q. Tests, Basic computer program to perform nonparametric two-way analysis of variance and multiple comparisons on ranks of several related samples, Computers in biology and medicine, vol.17, issue.2, pp.85-99, 1987.