Tele-micro-surgery system with intelligent user interface

Mamoru Mitsuishi; Shin Tomisaki; Takumi Yoshidome; Hiroyuki Hashizume; Kazuo Fujiwara

Tele-micro-surgery system with intelligent user interface

Mamoru Mitsuishi, Shin Tomisaki, Takumi Yoshidome, Hiroyuki Hashizume, Kazuo Fujiwara

Graduate School of Medicine Dentistry and Pharmaceutical Sciences

Research output: Contribution to journal › Conference article › peer-review

37 Citations (Scopus)

Abstract

This paper describes a master-slave type telemicro-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 rotational degrees of 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. 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 0.3mm was also successfully sutured.

Original language	English
Pages (from-to)	1607-1614
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
Publication status	Published - Dec 3 2000
Event	ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: Apr 24 2000 → Apr 28 2000

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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title = "Tele-micro-surgery system with intelligent user interface",

abstract = "This paper describes a master-slave type telemicro-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 rotational degrees of 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. 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 0.3mm was also successfully sutured.",

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AU - Mitsuishi, Mamoru

AU - Tomisaki, Shin

AU - Yoshidome, Takumi

AU - Hashizume, Hiroyuki

AU - Fujiwara, Kazuo

PY - 2000/12/3

Y1 - 2000/12/3

N2 - This paper describes a master-slave type telemicro-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 rotational degrees of 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. 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 0.3mm was also successfully sutured.

AB - This paper describes a master-slave type telemicro-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 rotational degrees of 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. 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 0.3mm was also successfully sutured.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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T2 - ICRA 2000: IEEE International Conference on Robotics and Automation

Y2 - 24 April 2000 through 28 April 2000

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Tele-micro-surgery system with intelligent user interface

Abstract

ASJC Scopus subject areas

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