Force display method to improve safety in teleoperation system for intravascular neurosurgery

Author

Tanimoto, Mitsutaka ; Arai, Fumihito ; Fukuda, Toshio ; Negoro, Makoto

Author_Institution

Dept. of Micro Syst. Eng., Nagoya Univ., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1728

Abstract

We have proposed a force display method to improve safety and operativity in a teleoperation system for intravascular neurosurgery. This method consists of two parts. One is improvement of operator´s feeling of force feedback by displaying two force sensors´ information. The another one is variable impedance characterization, which changes the impedance parameters of the master arm dynamically by reflecting the situation of the slave side. We present some experimental results of this force display method and show the effectiveness of this method

Keywords

blood vessels; force control; force feedback; force sensors; medical robotics; micromanipulators; microsensors; position control; safety; surgery; telerobotics; force display method; intravascular neurosurgery; teleoperation system; variable impedance characterization; Auditory displays; Biomedical imaging; Blood vessels; Catheters; Computer displays; Force sensors; Humans; Neurosurgery; Safety; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770358

Filename

770358