Title :
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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770358
