Title :
Autonomous avoidance based on motion delay of master-slave surgical robot
Author :
Inoue, Shintaro ; Toyoda, Kazutaka ; Kobayashi, Yo ; Fujie, Masakatsu G.
Author_Institution :
Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Abstract :
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.
Keywords :
biological organs; biomedical optical imaging; blood vessels; endoscopes; manipulators; medical robotics; neurophysiology; surgery; autonomous avoidance; avoidance control algorithm; delay compensation; endoscopic surgery; frequency characteristics; master-slave surgical robot; motion delay; slave-manipulator; Algorithms; Equipment Design; Magnetic Resonance Imaging; Motion; Robotics;
Conference_Titel :
Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE
Conference_Location :
Minneapolis, MN
Print_ISBN :
978-1-4244-3296-7
Electronic_ISBN :
1557-170X
DOI :
10.1109/IEMBS.2009.5333458
