Combined collision avoidance and prevention of soft tissue damage control method for surgical robots

Inko Elgezua, Yo Kobayashi, Sangha Song, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Surgical robots will have a more and more important role in Minimally Invasive Surgery (MIS), especially in laparoscopic procedures. They can overcome some of the problems of laparoscopic surgery and improve surgeon's performance. However, they also introduce new challenges and problems. Perhaps the biggest problem is lack of feedback to surgeons. This lack of feedback can cause serious problems such as tissue damage, or touching vulnerable organs. To avoid such situations, prevention of tissue damage or collision avoidance methods have been proposed. There is however a lack of methods that combine them in a simple control algorithm. In this paper we propose a novel control method for MIS master-slave surgical robot that combines collision avoidance and prevention of tissue damage. We have validated our method with a real robot in in-vitro experiments. Experimental results suggest that our method improves surgeon's performance and safety.

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages1217-1222
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome
Duration: 2012 Jun 242012 Jun 27

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CityRome
Period12/6/2412/6/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • Cite this

    Elgezua, I., Kobayashi, Y., Song, S., & Fujie, M. G. (2012). Combined collision avoidance and prevention of soft tissue damage control method for surgical robots. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1217-1222). [6290874] https://doi.org/10.1109/BioRob.2012.6290874