Title :
Force display method for intravascular neurosurgery
Author :
Tanimoto, Mitsutaka ; Arai, Fumihito ; Fukuda, Toshio ; Takahashi, Ikuo ; Negoro, Makoto
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
We propose a new force display method to improve safety and operability in 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 sensor´s information; and the another one is variable impedance characterization, which changes the impedance parameters of master arm dynamically by reflecting the situation of slave side. In this paper, we present some experimental results of this force display method and show the effectiveness of this method
Keywords :
force control; force feedback; surgery; telerobotics; force display; force feedback; intravascular neurosurgery; surgery; teleoperation; variable impedance; Auditory displays; Biomedical imaging; Blood vessels; Catheters; Computer displays; Force sensors; Humans; Neurosurgery; Safety; Velocity control;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812552
