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

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

doi:10.1109/IEMBS.2009.5333458

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

理工学術院総合研究所

研究成果: Conference contribution

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	https://doi.org/10.1109/IEMBS.2009.5333458
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
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）

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10.1109/IEMBS.2009.5333458

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引用スタイル

Inoue, S., Toyoda, K., Kobayashi, Y., & Fujie, M. G. (2009). Autonomous avoidance based on motion delay of master-slave surgical robot. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 (pp. 5080-5083). [5333458] https://doi.org/10.1109/IEMBS.2009.5333458

Inoue, S, Toyoda, K, Kobayashi, Y & Fujie, MG 2009, Autonomous avoidance based on motion delay of master-slave surgical robot. in Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009., 5333458, pp. 5080-5083, 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, Minneapolis, MN, 09/9/2. https://doi.org/10.1109/IEMBS.2009.5333458

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

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