Teleoperation and Virtual Reality Technology for Micro Surgery

点击翻译按钮获取中文摘要

In this study, we developed the stereoscopic endoscope for microsurgery. The virtual reality technology with visual, tactile and auditory senses for the micro surgery system also was studied. Visual information plays the most important role on human activity. Among others, stereoscopy is the Key technology for the construction of the virtual reality space. In this viewpoint, we developed the stereoscopic endoscope with ultra fine image fibers and studied on miniaturization of the stereoscopic system.In the most of ordinary surgical operations, visual information also plays an important role on surgical procedures. However, tactile information also influences comprehension of the situation. Operators integrate these information to perform surgical operations smoothly. In our system, the feedback mechanism from manipulations of the micro surgery equipment to the operator's tactile sense was employed. This feedback mechanism enhanced the virtual reality sense and the Presence.In ordinary surgical operations, an auditory sense performs a small part on the decision of procedures. However, the auditory sense can be utilized to complement other senses on constrution of the virtual reality space. In our system, artificial sound was attached as the manipulation response.In this project, the developed surgical manipulator for micro surgery was still large in its scale, because of many difficulties on the developement of miniature actuators for manipulator. We continues the study on miniaturization of actuators and the surgical manipulator.