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。内镜手术是在视频图像下进行的，因此本质上适合于远程通信。我们与一些工程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、用于视觉通信的CODEC、遥控摄像机、专用麦克风和AV信号转换器组成。这些电信设备的价格逐年下降。我们开发了一种利用视频图像进行说明的技术。只要触碰这个面板，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。戒烟也很容易。该系统将大大提高外科远程指导的有效性。使用这种远程指导系统，经验丰富的腹腔镜外科医生可以通过咨询远程腹腔镜手术专家，成功地完成复杂的手术。我们还开发了一个主从操纵器。我们的机械手原型，有6个自由度，可以很容易地控制。即使采用远程呈现方式，也可以通过使用该系统实现非常精确的机动。在机器人技术中，触觉传递是最重要也是最难解决的问题。我们成功地利用PHANToM系统开发了一个具有完全触觉的主从机械手。我们可以用手指感受物体的表面和弹性。即使是像翻页这样的精细动作，我们也可以用完全的触觉轻松完成。我们可以用两只手指感觉到，好像我们真的触摸和转动了纸张。

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.