Control method for surgical robot to prevent overload at vulnerable tissue

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

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

Organs have many vulnerable tissues such as blood vessels and nerves which must never be damaged. This paper shows a control method which prevents the overload of vulnerable tissues. Firstly, the force control method, which prevents overload, is shown. Secondly, a FEM-based stress obsever using the organ model is described. Finally, a control method incorporating the first and second steps, and which prevents overload at vulnerable tissue, is shown. Based on the experimental result of positional and stress data; it is shown that the stress at vulnerable tissues didn't widely exceed limit stress, in the event that a target position potentially resulting in damage to vulnerable tissue was ordered.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ1893-1899
ページ数7
DOI
出版ステータスPublished - 2007
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
継続期間: 2007 4 102007 4 14

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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