Autonomous avoidance based on motion delay of master-slave surgical robot.

Shintaro Inoue; Kazutaka Toyoda; Y. Kobayashi; Masakatsu G. Fujie

Autonomous avoidance based on motion delay of master-slave surgical robot.

Shintaro Inoue^*, Kazutaka Toyoda, Y. Kobayashi, Masakatsu G. Fujie

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

Safe use of master-slave robots for endoscopic surgery requires autonomous motions to avert contact with vital organs, blood vessels, and nerves. Here we describe an avoidance control algorithm with delay compensation that takes the dynamic characteristics of the robot into account. To determine the operating parameters, we measured frequency characteristics of each joint of the slave-manipulator. The results suggest this delay compensation program improves avoidance performance.

Original language	English
Pages (from-to)	5080-5083
Number of pages	4
Journal	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Publication status	Published - 2009
Externally published	Yes

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

Cite this

Autonomous avoidance based on motion delay of master-slave surgical robot. / Inoue, Shintaro; Toyoda, Kazutaka; Kobayashi, Y. et al.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2009, p. 5080-5083.

Research output: Contribution to journal › Article › peer-review

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Autonomous avoidance based on motion delay of master-slave surgical robot.

Abstract

ASJC Scopus subject areas

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