A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects. 2017 IEEE World Haptics Conference (WHC), 1--6, June 2017. [PUMA: aspects;Haptic aspects;ergonomics;gall bladder control ergonomics;medical extraction;grasping;haptic feedback;instrument feedback;workspace imt-pott-alt instruments;master interface;minimally interfaces interfaces;Instruments;Kinematics;Manipulators;Surgery;User intervention;robotic invasive kinematics;surgery;ergonomic kinematics;teleoperated model;rectum movements;point-and-touch-task;porcine orifices;non-achievable parallel platform;teleoperation precision;intra-corporal resection robot robot;knotting robotics;robot scaling;natural setup;transanal single-port slave surgery;movement surgery;visual system;slave tasks;laparoscopic] URL