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