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

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

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

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

^*この研究の対応する著者

研究成果: Article › 査読

抄録

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.

本文言語	English
ページ（範囲）	5080-5083
ページ数	4
ジャーナル	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
出版ステータス	Published - 2009
外部発表	はい

ASJC Scopus subject areas

コンピュータビジョンおよびパターン認識
信号処理
生体医工学
健康情報学

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Autonomous avoidance based on motion delay of master-slave surgical robot. / Inoue, Shintaro; Toyoda, Kazutaka; Kobayashi, Y. その他.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2009, p. 5080-5083.

研究成果: Article › 査読

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

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