Autonomous avoidance based on motion delay of master-slave surgical robot.
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.
Inoue
Shintaro
S
Graduate School of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan. shin-29-kep@moegi.waseda.jp
Toyoda
Kazutaka
K
Kobayashi
Yo
Y
Fujie
Masakatsu G
MG
D000465:Algorithms; D004867:Equipment Design; D008279:Magnetic Resonance Imaging; D009038:Motion; D012371:Robotics / Q000295:instrumentation*