[Tele-micro-surgery system].
This paper describes a master-slave type tele-micro-surgical system with an intelligent user interface. To enhance the accuracy and the rigidity of the slave-manipulator, multi-circular guides were adopted for the degrees of rotational freedom. To increase the operability of the system, an "anti-shadow" technique was used and the 3D relative information was presented on a 2D display. Furthermore, the anti-shadow was processed using a real-time tracking vision system to guide the slave-manipulator to the target position automatically. Multi-axis force information was converted into auditory information to transmit the reality of the surgical field. It took approximately 25 minutes to suture a 1 mm diameter artificial micro-blood-vessel using the system. The carotid artery of a rat with a diameter of 0.3 mm was also successfully sutured.
Mitsuishi
M
M
Department of Engineering Synthesis, Faculty of Engineering, University of Tokyo.
D000818:Animals; D002339:Carotid Arteries / Q000601:surgery; D006801:Humans; D008866:Microsurgery / Q000295:instrumentation / Q000379:methods; D051381:Rats; D012371:Robotics / Q000295:instrumentation / Q000379:methods; D013536:Suture Techniques; D014656:Vascular Surgical Procedures / Q000295:instrumentation / Q000379:methods