DocumentCode
2392003
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
fYear
2009
fDate
3-6 Sept. 2009
Firstpage
5080
Lastpage
5083
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE
Conference_Location
Minneapolis, MN
ISSN
1557-170X
Print_ISBN
978-1-4244-3296-7
Electronic_ISBN
1557-170X
Type
conf
DOI
10.1109/IEMBS.2009.5333458
Filename
5333458
Link To Document