Development of a surgical tele-operation system using virtual reality techniques and sensor fusion techniques

1.遥控手术系统原型的开发：设计并开发了一个遥控手术系统原型，并研究了该系统的可行性。该系统包括：1）两个CCD摄像机，或配备有两个CCD摄像机的显微外科显微系统，其允许立体图像; 2）护目镜形头戴式显示器; 3）在臂头处具有操纵器的机器人臂; 4）控制机器人臂和从操纵器的运动的主操纵器。CCD的视觉信息信号和主机械手的从机械手的遥控信号通过两条ISDN线路传输。为了研究该系统的可行性，使用来自隔壁房间或来自约10公里外的另一个研究所的系统，通过激光束穿过由从操纵器夹持的激光纤维来进行切割或凝固动物组织的目标点的试验。 ...更多信息 立体图像使操作员有距离感，从而使他们能够移动从机械手;最佳位置容易，虽然有一个非常短的延迟之间的主机械手的操作和从机械手的运动这主要是由于延迟在处理图像和控制信号，并在这些信号和ISDN信号之间的转换. 2.机械手：一个主，从机械手系统的设计和开发。该系统由若干层金属环通过导线相互连接而成，用于戴在手指上。根据手指位置的偏差，利用钢丝来检测主机械手的偏差，并传递力一种机器人手系统，其由四个手指组成，并允许使用阻抗控制方法以最佳的力抓握物体，和视觉跟踪系统，允许超高速（1毫秒）跟踪使用并行处理方法，试图被引入到远程手术系统。目前，正在尝试配备一个使用压力传感橡胶的传感器系统，以便将作用于机器人手的压力分布反馈给操作者的手指。通过刺激周围神经纤维产生人工感觉使用神经电图方法，通过刺激清醒的人类受试者的单个感觉神经纤维（在周围神经中）来产生“高级”人工感觉。神经纤维的微刺激使受试者能够产生触觉、痛觉等，尽管需要进一步的研究来确认刺激的幅度和频率如何影响所产生的感觉。能够长期、多通道刺激神经纤维的电极设计并开发了一种神经再生电极的原型，该电极允许对周围神经纤维进行长期、多通道刺激。将电极植入大鼠坐骨神经，证实植入电极功能良好。少

1. DEVELOPMENT OF A PROTOTYPE OF A REMOTELY OPERATED SURGICAL SYSTEM :A prototype of a remotely operated surgical system was designed and developed, and the feasibility of the system was studied. The system was composed of : 1) either two CCD cameras, or microscopic system for microsurgery equipped with two CCD cameras, which allow stereoscopic images ; 2) a goggle-shaped head mounted display ; 3) a robot arm with manipulators at the arm head ; 4) master manipulators to control the movement of the robot arm and slave manipulators. The signals of the visual information from the CCDs, and the remote control signals of the slave manipulators from the master manipulators, were trasferred through two ISDN lines. In order to study the feasibility of the system, trial to cut or coagulate target points of animal tissues by a laser beam through a laser fiber gripped by the slave manipulator were performed using the system from the next room, or from another institute about 10 km away.The use of … More stereoscopic images enabled the operators to have a sense of distance, and thus allow them to move the slave manipulator ; to the optimum position easily, although there was a very short delay between the manipulation of the master manipulator and the movement of the slave manipulator this was mainly due to the delay in processing the image and the control signals and in the conversion between those signals and the ISDN signal.2. MANIPULATORS : A master and slave manipulator system was designed and developed originally. The system is composed of several layrs of metal rings which are connected with each other by wires, and was used putting it on the fingers. The wire was used to detect the deviation of the master manipulator which causes in accordance with the deviation of the position of the finger, and as well, to transmit the force (which is acted to each slave manipulator) to each finger by restricting the movement of the fingers of the operator.A robot hand system which consists of four fingers and allow to grip objects with optimum force using the impedance control method, and a visual tracking system which allow super high speed (l msec) tracking using parallel processing method, were tried to be introduced into the tele-operating surgical system. At present, an attempt to equip a sensor system using pressure sensing rubber is being made in order to feedback pressure distribution which is acting the robot hand to the fingers of the operator.3. GENERATION OF ARTIFICIAL SENSATIONS BY STIMULATING PERIPHERAL NERVE FIBERSMicroneurogram method was used in order to generate 'high grade' artificial sensations by stimulating single sensory nerve fiber (in peripheral nerve) using awake human subjects. The micro-stimulation of the nerve fiber enabled the subjects to generate the sense of touch, pain, etc., although further studies are necessary to confirm how the amplitude and frequency of the stimulation affect the generated sensations.4. ELECTRODES CAPABLE OF LONG-TERM,MULTI-CHANNEL STIMULATING OF NERVE FIBERSA prototype of a nerve-regenerative electrode which allows long-term, multi-channel stimulation of the peripheral nerve fibers was designed and developed. The electrode was implanted at the sciatic nerve of the rats, and it was confirmed that the implanted electrode functioned well. Less