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

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

doi:10.1109/AMC.2010.5464119

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages	284-289
Number of pages	6
DOIs	https://doi.org/10.1109/AMC.2010.5464119
Publication status	Published - 2010 Jun 25
Event	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Country/Territory	Japan
City	Nagaoka, Niigata
Period	10/3/21 → 10/3/24

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/AMC.2010.5464119

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Kasahara, Y., Kitamura, K., Ohnishi, K., Morikawa, Y., & Shimojima, N. (2010). Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 284-289). Article 5464119 (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464119

Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. / Kasahara, Yusuke; Kitamura, Kazuya; Ohnishi, Kouhei et al.
AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings. 2010. p. 284-289 5464119 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kasahara, Y, Kitamura, K, Ohnishi, K, Morikawa, Y & Shimojima, N 2010, Rupture detection for exenteration of tissues using two-DOF haptic surgical forceps robot. in AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings., 5464119, International Workshop on Advanced Motion Control, AMC, pp. 284-289, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464119

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abstract = "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.",

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AB - 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.

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

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