Tele-micro-surgery system with intelligent user interface

Mamoru Mitsuishi, Shin Tomisaki, Takumi Yoshidome, Hiroyuki Hashizume, Kazuo Fujiwara

Research output: Contribution to journalConference articlepeer-review

41 Citations (Scopus)


This paper describes a master-slave type telemicro-surgical system with an intelligent user interface. To enhance the accuracy and the rigidity of the slave-manipulator, multi-circular guides were adopted for the rotational degrees of freedom. To increase the operability of the system, an 'anti-shadow' technique was used and the 3D relative information was presented on a 2D display. Furthermore, the anti-shadow was processed using a real-time tracking vision system to guide the slave-manipulator to the target position automatically. It took approximately 25 minutes to suture a 1 mm diameter artificial micro-blood-vessel using the system. The carotid artery of a rat with a diameter of 0.3mm was also successfully sutured.

Original languageEnglish
Pages (from-to)1607-1614
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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