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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages284-289
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Acceleration control
Haptics
Rupture
Robust control
Surgery
Accidents
Robot
Robots
Tissue
Impedance
Experiments
Least Square Algorithm
Recursive Algorithm
Robotic surgery
Experimental Results
Experiment

ASJC Scopus subject areas

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

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 International Workshop on Advanced Motion Control, AMC (pp. 284-289). [5464119] https://doi.org/10.1109/AMC.2010.5464119

Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. / Kasahara, Yusuke; Kitamura, Kazuya; Ohnishi, Kouhei; Morikawa, Yasuhide; Shimojima, Naoki.

International Workshop on Advanced Motion Control, AMC. 2010. p. 284-289 5464119.

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

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 International Workshop on Advanced Motion Control, AMC., 5464119, pp. 284-289, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464119
Kasahara Y, Kitamura K, Ohnishi K, Morikawa Y, Shimojima N. Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. In International Workshop on Advanced Motion Control, AMC. 2010. p. 284-289. 5464119 https://doi.org/10.1109/AMC.2010.5464119
Kasahara, Yusuke ; Kitamura, Kazuya ; Ohnishi, Kouhei ; Morikawa, Yasuhide ; Shimojima, Naoki. / Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. International Workshop on Advanced Motion Control, AMC. 2010. pp. 284-289
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