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Research in the Surgical Mechatronics Laboratory aims to develop intelligent tools that improve performance in microsurgery and minimally invasive surgery while at the same time leaving the surgeon in full control of the procedure and benefiting from his expertise and dexterity. The goal is for the surgeon to notice the work he is doing, not the tool he is using. The improvements in performance that are sought generally involve improved positioning accuracy and improved minimally-invasive access. A major area of interest in the lab is compensation of biological motion (heartbeat, respiration, tremor) for improved accuracy.