Force Feedback Teleoperation System for Intelligent Micro Catheter

我们的研究目标是实现一种使用导管的血管内神经外科手术系统。我们已经开发和评估了三个重要的组成部分，神经外科。第一种是安装在导管尖端的微力传感器，第二种是视觉辅助方法，第三种是力显示方法，我们开发了一种非常小的力传感器。微力传感器的直径为1.6mm。我们测量了传感器的特性，我们证实它具有良好的线性和灵敏度。我们还进行了活体实验，并证实了我们的微力传感器在活体中工作良好。视觉辅助方法帮助操作者理解导管和血管之间的形状和几何关系。该方法是一种算法，用于为操作呈现最合适的视点。在高速光网络上进行了该方法的遥操作实验，取得了良好的效果。一个是由安装在从单元中的两个力传感器测量的真实的力信息。另一个是从机侧的环境信息，显示为主机的虚拟阻抗参数。我们对这些力显示方法进行了一些基本的实验，证实了其在提高导管遥操作的安全性和可操作性方面的有效性。我们将继续开发这些组件，集成这些设备和方法，并在未来实现更复杂的外科手术系统。

Our research objective is to realize a nobel telesurgery system for intravascular neurosurgery using a catheter. We have developed and evaluated three important components of telesurgery. The first one is a micro force sensor which has been installed in the tip of catheter, the second one is a visual assistance method, and the third one is a force display method.We developed a very small force sensor. The diameter of the micro force sensor is 1.6mm. We measured the characteristics of the sensor and we confirmed its good linearity and sensitivity. We have also performed an in vivo experiment, and confirmed that our micro force sensor worked well in the living body.Visual assistance method helps an operator to understand the shape and geometric relation between the catheter and blood vessels. This method is an algorithm to present the most suitable view point for the operation. We have also performed a teleoperation experiment of this method on the high speed optical network, and had a good result.Force display method displays two information. One is a real force information that is measured by two force sensors installed in the slave unit. The other is an environment information of slave side, which is displayed as an virtual impedance parameters of master unit. We performed some basic experiments of these force display methods and confirmed its effectiveness to improve safety and operativity while the teleoperation of a catheter.We will continue to develop these components, integrate these devices and methods, and realize more sophisticated telesurgery system in future.