Development of robotics-aided surgery system and tele-mentoring system in surgery

今天，先进的电信技术仅使用3-ISDN电话线就为我们提供了出色的运动图像。内窥镜手术是在视频图像下进行的，因此它本质上适用于远程通信。我们与一些工程研究所合作开发了内窥镜手术远程指导系统，该系统由视频监视器、视频通信编解码器、遥控摄像机、专用麦克风和AV信号转换器组成。这些通讯设备的价格逐年下降，我们开发了一种视频图像显示技术。只要触及这样的面板，远程咨询专家和手术外科医生都可以使用各种类型的彩色线在视频图像上自由地指出。退出线也很容易。该系统将大大提高手术远程指导的实用性。使用这种远程指导系统，在主要手术部位的经验丰富的腹腔镜外科医生可以成功地进行复杂的程序，通过咨询专家在远程站点的腹腔镜手术。我们还开发了主从机械手。我们的机械手的原型，有6个自由度，可以很容易地控制。在机器人技术中，触觉传递是最重要也是最难解决的问题。应用PHANToM系统成功地研制出了具有完整触觉的主从机械手。我们可以用两个手指感觉物体的表面和弹性。即使是一个微妙的动作，如翻页，我们可以做他们很容易与完整的触觉。我们可以用两个手指感觉到，就好像我们真的触摸和转动纸张一样。

Today advanced tele-communication technology provides us excellent motion images using only 3-ISDN telephone lines. Endoscopic surgery is performed under video image, so it is essentially suitable for tele-communication. We have developed tele-mentoring system of endoscopic surgery collaborated with some institutes of engineering, which consists of video monitor, CODEC for visual communication, remotely controllable camera, specialized mike and AV signal converters. Prices of these tele-communication devices have been reduced year by year.We developed a technique to illustrate on video image. Just touching on such a panel, both of remote advisory specialists and operating surgeons can freely point out on video image using various types of color lines. Quitting lines is also very easy. This system would much enhance usefulness of surgical tele-mentoring. Using this kind of tele-mentoring system, experienced laparoscopic surgeons at primary operating sites can successfully perform complex procedures by consulting specialists of laparoscopic surgery at the remote sites.We have also developed a master-slave manipulator. The prototype of our manipulator, has 6 degrees of freedom, and can be controlled very easily. Even by tele-presence fashion, very precise maneuver can be achieved by using this system.In robotics, tactile sensation transmission is most important and difficult problem to be dissolved. We have succeeded to develop a master-slave manipulator with complete tactile sensation by application of PHANToM system. We can feel surface and elasticity of the object by both fingers. Even a delicate maneuver such as turning the pages, we can do them easily with complete tactile sensation. We can feel by both fingers as if we really touch and turn the papers.