The field of medical robotics is poised for significant growth in the immediate future. A wide range of new products are expected, from rehabilitation robots and service robots for the elderly and physically challenged to surgical mechanisms for minimally invasive surgery, new tools in informatics for immediate physician access to patient records, and tele-operated devices for field first aid. This comprehensive book serves as an introduction for those new to the field who wish to develop a breadth of knowledge in key areas of contemporary work and as an invaluable desk reference for experienced professionals.