Improvement of Safety and Operability by Force Display Method in Tele-Surgery System

In this paper, we focus on the problem of safety and operability which is involved in a teleoperation system (master slave system) for medical application, and propose a new control strategy to improve performance of safety and operability by two force display methods. One is a multiple sensor information display method which display several force information that are measured by several force sensors on one master device. The another one is a variable impedance characterization of master device which changes the impedance parameter of the master device according to the situation of the medical operation. We also apply this method to the neurosurgical telemedicine system, and perform an experiment to evaluate our method.