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

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

doi:10.1109/IEMBS.2009.5333458

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

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

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
Title of host publication	Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
Pages	5080-5083
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2009.5333458
Publication status	Published - 2009
Event	31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN Duration: 2009 Sept 2 → 2009 Sept 6

Other

Other	31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
City	Minneapolis, MN
Period	09/9/2 → 09/9/6

ASJC Scopus subject areas

Cell Biology
Developmental Biology
Biomedical Engineering
Medicine(all)

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10.1109/IEMBS.2009.5333458

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Inoue, S., Toyoda, K., Kobayashi, Y., & Fujie, M. G. (2009). Autonomous avoidance based on motion delay of master-slave surgical robot. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 (pp. 5080-5083). [5333458] https://doi.org/10.1109/IEMBS.2009.5333458

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

Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. 2009. p. 5080-5083 5333458.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Inoue, S, Toyoda, K, Kobayashi, Y & Fujie, MG 2009, Autonomous avoidance based on motion delay of master-slave surgical robot. in Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009., 5333458, pp. 5080-5083, 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, Minneapolis, MN, 09/9/2. https://doi.org/10.1109/IEMBS.2009.5333458

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

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