Parameter setting method considering variation of organ stiffness for the control method to prevent overload at fragile tissue

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

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

2 Citations (Scopus)

Abstract

We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ model was used to estimate the stress in this control method. Secondly, we describe the control parameter setting method. The control parameter was set to realize sufficient performance within the range of stiffness variation. Finally, we carried out a numerical simulation and an in vitro experiment. The simulation result suggests that our control method and parameter setting method helps prevent stress overload, not depending on the stiffness of organ model. The in vitro experimental result suggests that our method helps prevent stress overload of the in vitro-liver, the stiffness parameter of which is unknown.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2155-2161
Number of pages7
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
Duration: 2009 Oct 112009 Oct 15

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Kobayashi, Y., Kato, A., Hoshi, T., Kawamura, K., & Fujie, M. G. (2009). Parameter setting method considering variation of organ stiffness for the control method to prevent overload at fragile tissue. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2155-2161). [5354509] https://doi.org/10.1109/IROS.2009.5354509