The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 1P1-C09
Conference information
1P1-C09 Autonomous avoidance algorithm for master-slave surgical robot
Shintaro INOUEToyohiro NOGUCHIAtsuhi KATOKazutaka TOYODAKazuya KAWAMURAYou KOBAYASHIMasakatsu G. FUJIE
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Abstract
To prevent accidents during a surgery using a master-slave surgical robot, we proposed an autonomous avoidance algorithm of danger area. This proposed algorithm generates avoidance motion with manual operation by an operator and autonomous operation based on position information of the danger area. Using usual methods of the autonomous avoidance, it is difficult to juggle two demands postulated as follows: the stability of the slave motion around the danger area and avoidance when the danger area approach to the slave robot. In this paper, we described a new method that can juggle them, and evaluate the availability using simulation and actual equipment.
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© 2008 The Japan Society of Mechanical Engineers
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