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Dexterity enhancement for a tele-micro-surgery system with multiple macro-micro co-located operation point manipulators and understanding of the operator's intention

  • Basic Tools and Applications in Tele- and Micro-Surgery
  • Conference paper
  • First Online:
CVRMed-MRCAS'97 (CVRMed 1997, MRCAS 1997)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1205))

Abstract

This paper describes the analysis of micro-surgery operation to determine the specifications of a tele-micro-surgery system. The implemented system for the connection of micro blood vessels consists of multiple micro co-located operation point slave manipulators, macro rotational-force-feedback-free master manipulators and a vision system which is comprised of a fixed viewpoint microscope and a movable monitor system. The parameters of the vision system can be controlled in accordance with the system's understanding of the operator's intention by monitoring the posture change of the operator. The experimental results showed the effectiveness of the developed system. In the experiment, a blood vessel of a rat with a diameter less than 1 mm was successfully sutured using needle with a curvature radius of 2 mm.

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References

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Authors and Affiliations

  1. Department of Engineering Synthesis, Faculty of Engineering, The University of Tokyo, Hongo 7-3-1, 113, Tokyo, Japan

    Mamoru Mitsuishi, Hirofumi Nakanishi, Hiroyuki Kubota & Yasuhiro Iizuka

  2. Department of Orthopaedic Surgery, Okayama University Medical School, Shikata-cho 2-5-1, 700, Okayama, Japan

    Hiroyoshi Watanabe

Authors
  1. Mamoru Mitsuishi
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  2. Hiroyoshi Watanabe
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  3. Hirofumi Nakanishi
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  4. Hiroyuki Kubota
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  5. Yasuhiro Iizuka
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Editor information

Jocelyne Troccaz Eric Grimson Ralph Mösges

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© 1997 Springer-Verlag Berlin Heidelberg

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Mitsuishi, M., Watanabe, H., Nakanishi, H., Kubota, H., Iizuka, Y. (1997). Dexterity enhancement for a tele-micro-surgery system with multiple macro-micro co-located operation point manipulators and understanding of the operator's intention. In: Troccaz, J., Grimson, E., Mösges, R. (eds) CVRMed-MRCAS'97. CVRMed MRCAS 1997 1997. Lecture Notes in Computer Science, vol 1205. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0029309

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  • DOI: https://doi.org/10.1007/BFb0029309

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-62734-0

  • Online ISBN: 978-3-540-68499-2

  • eBook Packages: Springer Book Archive

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