We have proposed a force display method to improve safety and operativity in a teleoperation system for intravascular neurosurgery. This method consists of two parts. One is improvement of operator's feeling of force feedback by displaying two force sensors' information. The another one is variable impedance characterization, which changes the impedance parameters of the master arm dynamically by reflecting the situation of the slave side. We present some experimental results of this force display method and show the effectiveness of this method.
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