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

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

Research output: Contribution to journalArticle


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 languageEnglish
Pages (from-to)5080-5083
Number of pages4
JournalConference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Publication statusPublished - 2009
Externally publishedYes


ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

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