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Proceedings Paper

A novel machine interface for scaled telesurgery
Author(s): Samuel T. Clanton; David C. Wang; Yoky Matsuoka; Damion M. Shelton; George D. Stetten
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Paper Abstract

We have developed a system architecture that will allow a surgeon to employ direct hand-eye coordination to conduct medical procedures in a remote microscopic environment. In this system, a scaled real-time video image of the workspace of a small robotic arm, taken from a surgical microscope camera, is visually superimposed on the natural workspace of a surgeon via a half-silvered mirror. The robot arm holds a small tool, such as a microsurgical needle holder or microsurgical forceps, and the surgeon grasps a second tool connected to a position encoder, in this case a second robot arm. The views of the local and remote environments are superimposed such that the tools in the local and remote environments are visually merged. The position encoder and small robot arm are linked such that movement of the tool by the operator produces scaled-down movement by the small robot tool. To the surgeon, it seems that his hands and the tool he or she is holding is moving and interacting with the remote environment, which is really microscopic and at a distance. Our current work focuses on using a position-controlled master-slave robot linkage of two 3 degree of freedom haptic devices, and we are pursuing the use of a 6-to-7 degree of freedom master-slave linkage to produce more realistic interaction.

Paper Details

Date Published: 5 May 2004
PDF: 8 pages
Proc. SPIE 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, (5 May 2004); doi: 10.1117/12.536145
Show Author Affiliations
Samuel T. Clanton, Univ. of Pittsburgh (United States)
Carnegie Mellon Univ. (United States)
Univ. of Pittsburgh Medical Ctr. (United States)
David C. Wang, Univ. of Pittsburgh (United States)
Yoky Matsuoka, Carnegie Mellon Univ. (United States)
Damion M. Shelton, Carnegie Mellon Univ. (United States)
George D. Stetten, Univ. of Pittsburgh (United States)
Carnegie Mellon Univ. (United States)
Univ. of Pittsburgh Medical Ctr. (United States)


Published in SPIE Proceedings Vol. 5367:
Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display
Robert L. Galloway Jr., Editor(s)

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