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- KOYAMA Yuki
- The University of Tokyo
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- Marinho Murilo M.
- The University of Tokyo
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- HARADA Kanako
- The University of Tokyo
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- ARAI Fumihito
- Nagoya University
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- OMATA Seiji
- Kumamoto University
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- SUGIMOTO Koichiro
- The University of Tokyo Hospital
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- ARAKI Fumiyuki
- The University of Tokyo Hospital
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- TOTSUKA Kiyohito
- The University of Tokyo Hospital
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- SHIRAYA Tomoyasu
- The University of Tokyo Hospital
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- UETA Tahashi
- The University of Tokyo Hospital
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- TAKAO Muneyuki
- The University of Tokyo Hospital
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- AIHARA Makoto
- The University of Tokyo Hospital
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- MITSUISHI Mamoru
- The University of Tokyo
Bibliographic Information
- Other Title
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- 網膜硝子体手術におけるロボットの協調動作を用いた手術支援に関する研究
- -Comparison between pyramidical constraint and conical constraint-
- ―角錐を用いた拘束と円錐を用いた拘束による自動制御の計算時間の比較―
Abstract
<p>Tasks in vitreoretinal surgery are challenging even for expert surgeons since they target delicate tissues in the eyeball. Robots can be used to assist surgeons in performing such tasks accurately and safely. We have been developing an eye surgical robot comprised of a pair of robotic arms; one holding a light guide and the other holding a surgical instrument. In this study, we propose to autonomously control the pose of the light guide in accordance with the motion of the surgical instrument. To realize this autonomous control, we need a conical constraint for the surgical instrument’s motion, and we have approximated it using a pyramidical constraint in our previous work. However, the pyramidical constraint requires a high computational cost as their boundaries increase. Thus, we utilized a conical constraint in this study and compared its calculation time with that of pyramidical constraints with different number of lateral faces. The superiority of the conical constraint was demonstrated in a simulation.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (0), 2P2-F09-, 2020
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1391975276382322688
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- NII Article ID
- 130007944430
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed