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Tele-micro-surgery: analysis and tele-micro-blood-vessel suturing experiment

  • Chapter 10 Robots In Surgery
  • Conference paper
  • First Online:
Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

This paper describes the analysis of actual 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, Bunkyo-ku, 113, Tokyo, Japan

    Mamoru Mitsuishi, Hiroyoshi Watanabe, Hiroyuki Kubota & Hiroyuki Hashizume

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

    Yasuhiro Iizuka

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

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Mitsuishi, M., Watanabe, H., Kubota, H., Iizuka, Y., Hashizume, H. (1998). Tele-micro-surgery: analysis and tele-micro-blood-vessel suturing experiment. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112984

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  • DOI: https://doi.org/10.1007/BFb0112984

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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