Force display method for intravascular neurosurgery

We propose a new force display method to improve safety and operability in 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 sensor's information; and the another one is variable impedance characterization, which changes the impedance parameters of master arm dynamically by reflecting the situation of slave side. In this paper, we present some experimental results of this force display method and show the effectiveness of this method.