1P1-C09 Autonomous avoidance algorithm for master-slave surgical robot

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.