抄録
For safety of master-slave surgical robot system, the avoidance to contact the danger area with autonomous motion is required. Since the surgical robots have some time delay to the operation instruction, it is important to consider about the operating characteristics of the surgical robots. We developed delay compensation algorithm with the model of the slave manipulator. This algorithm predicts slave position at the time when the operation instruction will be transmitted. We mounted this algorithm to the master-slave surgical robot system, and the experimental result shows the effectiveness of our algorithm.
