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This paper describes a master-slave type telemicro-surgical system with an intelligent user interface. To enhance the accuracy and the rigidity of the slave-manipulator, multi-circular guides were adopted for the rotational degrees of freedom. To increase the operability of the system, an "antishadow" technique was used and the 3D relative information was presented on a 2D display. Furthermore, the anti-shadow was processed using a real-time tracking vision system to guide the slavemanipulator to the target position automatically. It took approximately 25 minutes to suture a 1 inm diameter artificial micro-blood-vessel using t,he system. The carotid artery of a rat with a diameter of 0.3mm was also successfully sutured.

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