PHANToMを用いたガイドワイヤー遠隔操作の試み(<特集>遠隔操作システム)

概要

論文の詳細を見る
[Purpose] Manipulating a guidewire at remote site by a virtual haptics device, PHANToM, with force feedback and visual monitor. [Method] The system was fundamentally designed as a master/slave system. On operation of PHANToM at the master side, the other PHANToM at slave side handled real microgidewire. At the same time, the operator could feel the resistance from the slave side. On big resistance, the slave side machine immediately stopped operation and fixed the wire at the position. Each PHNAToM was controlled by each NT workstation. Both of NT WSs were connected through Ethernet. The motion of slave side could be monitored using remote conference system, i-Visit. [Result] Remote side guidewire could be successfully manipulated with visual monitor and magnified force feedback. However, the system was not completely robustic. On high magnification of force feedback the motion became shaky. Visual monitor was not fast enough to follow rapid movement of PHANToMs. [Discussion] Remote manipulation via computer system should be effective for remote operation, remote assistance by the experts and at least to decrease radiation dose the operator. Magnification of force feedback and/or manipulation has possibility to improve safety of intravascular procedure. More robustic system should be needed.
日本バーチャルリアリティ学会の論文
2002-03-31