Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot

Yusuke Kasahara, Kazuya Kitamura, Kouhei Ohnishi, Yasuhide Morikawa, Naoki Shimojima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper proposes a novel method which detects a rupture of organs based on environmental impedance estimation. The proposed method detects the rupture of the organs which is conducive to serious medical accident. The environmental impedance is estimated from position and force responses of a surgery robot by using recursive least-squares algorithm. The rupture behavior is analyzed, and thresholds are settled with respect to each organ to detect the rupture. In the experiment, a two-DOF haptic surgical forceps robot which implements the bilateral control based on robust acceleration control is used. The experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages284-289
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kasahara, Y., Kitamura, K., Ohnishi, K., Morikawa, Y., & Shimojima, N. (2010). Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 284-289). [5464119] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464119