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 |
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ホスト出版物のタイトル | Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 |
ページ | 5080-5083 |
ページ数 | 4 |
DOI | |
出版ステータス | Published - 2009 |
イベント | 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN 継続期間: 2009 9月 2 → 2009 9月 6 |
Other
Other | 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 |
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City | Minneapolis, MN |
Period | 09/9/2 → 09/9/6 |
ASJC Scopus subject areas
- 細胞生物学
- 発生生物学
- 生体医工学
- 医学(全般)