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

Shintaro Inoue*, Kazutaka Toyoda, Yo Kobayashi, Masakatsu G. Fujie

*この研究の対応する著者

研究成果

5 被引用数 (Scopus)

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
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 22009 9 6

Other

Other31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
CityMinneapolis, MN
Period09/9/209/9/6

ASJC Scopus subject areas

  • 細胞生物学
  • 発生生物学
  • 生体医工学
  • 医学(全般)

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