Control method for surgical robot to prevent overload at vulnerable tissue

Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

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

16 Citations (Scopus)

Abstract

Organs have many vulnerable tissues such as blood vessels and nerves which must never be damaged. This paper shows a control method which prevents the overload of vulnerable tissues. Firstly, the force control method, which prevents overload, is shown. Secondly, a FEM-based stress obsever using the organ model is described. Finally, a control method incorporating the first and second steps, and which prevents overload at vulnerable tissue, is shown. Based on the experimental result of positional and stress data; it is shown that the stress at vulnerable tissues didn't widely exceed limit stress, in the event that a target position potentially resulting in damage to vulnerable tissue was ordered.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1893-1899
Number of pages7
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
Duration: 2007 Apr 102007 Apr 14

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CityRome
Period07/4/1007/4/14

Fingerprint

Tissue
Force control
Blood vessels
Robotic surgery
Finite element method

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kobayashi, Y., Hoshi, T., Kawamura, K., & Fujie, M. G. (2007). Control method for surgical robot to prevent overload at vulnerable tissue. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1893-1899). [4209362] https://doi.org/10.1109/ROBOT.2007.363598

Control method for surgical robot to prevent overload at vulnerable tissue. / Kobayashi, Yo; Hoshi, Takeharu; Kawamura, Kazuya; Fujie, Masakatsu G.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1893-1899 4209362.

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

Kobayashi, Y, Hoshi, T, Kawamura, K & Fujie, MG 2007, Control method for surgical robot to prevent overload at vulnerable tissue. in Proceedings - IEEE International Conference on Robotics and Automation., 4209362, pp. 1893-1899, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363598
Kobayashi Y, Hoshi T, Kawamura K, Fujie MG. Control method for surgical robot to prevent overload at vulnerable tissue. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 1893-1899. 4209362 https://doi.org/10.1109/ROBOT.2007.363598
Kobayashi, Yo ; Hoshi, Takeharu ; Kawamura, Kazuya ; Fujie, Masakatsu G. / Control method for surgical robot to prevent overload at vulnerable tissue. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 1893-1899
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