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

今天，先进的远程通信技术仅使用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，因此它本质上适合远程通信。我们与一些工程学院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、远程可控摄像头、专用麦克风和视听信号转换器组成。这些电信设备的价格逐年下降。我们开发了一种在视频图像上进行说明的技术。只需触摸这样的面板，远程咨询专家和手术医生都可以使用各种类型的色线在视频图像上自由指点。退出台词也很容易。该系统将大大提高外科远程指导的有用性。利用这种远程指导系统，一次手术部位的经验丰富的腹腔镜外科医生可以通过咨询远程位置的腹腔镜手术专家，成功地完成复杂的手术。我们还开发了一种主从式机械手。我们的机械手的原型有6个自由度，可以很容易地进行控制。即使采用临场感的方式，使用该系统也可以实现非常精确的动作。在机器人学中，触觉传递是最重要也是最难解决的问题。应用幻影系统成功地研制出具有完全触觉的主从式机械手。我们用两个手指就能感觉到物体的表面和弹性。即使是像翻页这样的微妙动作，我们也可以很容易地完成，并有完全的触觉。我们用两个手指就能感觉到好像我们真的触摸和翻动了报纸。

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.