基于主从式手术机器人运动延迟的自主避障

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

作者信息

Inoue Shintaro, Toyoda Kazutaka, Kobayashi Yo, Fujie Masakatsu G

机构信息

Graduate School of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan.

出版信息

Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5080-3. doi: 10.1109/IEMBS.2009.5333458.

DOI:10.1109/IEMBS.2009.5333458

PMID:19964112

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.

摘要

安全使用主从机器人进行内窥镜手术需要自主运动，以避免与重要器官、血管和神经接触。在此，我们描述了一种考虑机器人动态特性的带有延迟补偿的避障控制算法。为了确定操作参数，我们测量了从操作器各关节的频率特性。结果表明，该延迟补偿程序提高了避障性能。