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

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

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ284-289
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International 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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