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 |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 1607-1614 |
| Number of pages | 8 |
| Volume | 2 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: Apr 24 2000 → Apr 28 2000 |
Other
| Other | ICRA 2000: IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Francisco, CA, USA |
| Period | 4/24/00 → 4/28/00 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Tele-micro-surgery system with intelligent user interface. / Mitsuishi, Mamoru; Tomisaki, Shin; Yoshidome, Takumi; Hashizume, Hiroyuki; Fujiwara, Kazuo.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2000. p. 1607-1614.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Tele-micro-surgery system with intelligent user interface
AU - Mitsuishi, Mamoru
AU - Tomisaki, Shin
AU - Yoshidome, Takumi
AU - Hashizume, Hiroyuki
AU - Fujiwara, Kazuo
PY - 2000
Y1 - 2000
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.
UR - http://www.scopus.com/inward/record.url?scp=0033724364&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033724364&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033724364
VL - 2
SP - 1607
EP - 1614
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -