書誌事項
- タイトル別名
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- 2A1-L03 Motion Constraints and Automated Motion Guidance for Precision and Safety Enhancement in Robotic Eye Surgery(Surgical Robotics and Mechatronics (1))
抄録
Very fine motion is required in eye surgery, more specifically, in vitreoretinal surgery, and several surgical robotic systems have been developed to assist surgeons by filtering hand tremor and improving motion resolution. However, due to human-oriented problems, the precision and safety of robotic surgery are not sufficient. In this study, we propose two methods to implement motion constraints and automatic guidance to a master-slave microsurgical robotic system. The motion constraint method limits the motion range of the surgical robot by changing the motion-scaling ratio according to the change of distance between the tip of the robotic instrument and the target. In contrast, the auto-guidance method changes the direction of the robotic motion so that the tip of the robotic instrument approaches toward the target. We conducted experiments to elucidate the feasibility of the proposed methods, and the results showed that both methods had potential to improve precision and safety.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2013 (0), _2A1-L03_1-_2A1-L03_4, 2013
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205937601664
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- NII論文ID
- 110009963889
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可