Matches in SemOpenAlex for { <https://semopenalex.org/work/W2955471867> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W2955471867 abstract "This paper proposes a switching control system of robotic forceps to enhance the safety of robotic surgery. When the robotic forceps contacted with environment at the outside of the laparoscopic field of view, surgeons can easily damage an internal organs of patient. Therefore, control mode of the surgical robot is automatically switched based on the existence of the robotic forceps in the laparoscopic field of view. The detection of the robotic forceps in the laparoscopic image is performed through image processing on the basis of threshold criteria. Then, when the robotic forceps was recognized as outside of the laparoscopic field of view, a position tracking control combined with an impedance control is conducted. In this case, if the robotic forceps contacted with an internal organ of patient, the control system loosens contact force between the robotic forceps and the internal organ, so that the robotic forceps deflects from the internal organ. Thus, the risk of the surgical robot unexpectedly damaging the internal organ is expected to be reduced. On the other hand, when the robotic forceps was recognized as inside of the laparoscopic field of view, just a position tracking control is conducted. In this case, surgeon can obtain a required contact force for performing surgical procedure between the robotic forceps and the internal organ. In order to verify an effectiveness of the proposed switching control system, the control system was applied to a robotic surgical system developed in our previous study, and evaluation experiments were carried out." @default.
- W2955471867 created "2019-07-12" @default.
- W2955471867 creator A5023042751 @default.
- W2955471867 creator A5073299095 @default.
- W2955471867 date "2018-03-01" @default.
- W2955471867 modified "2023-09-26" @default.
- W2955471867 title "Impedance Control of Robotic Forceps for Safe Robotic Surgery" @default.
- W2955471867 cites W1532037920 @default.
- W2955471867 cites W1590107182 @default.
- W2955471867 cites W1981568592 @default.
- W2955471867 cites W2071563383 @default.
- W2955471867 cites W2072140024 @default.
- W2955471867 cites W2133231729 @default.
- W2955471867 cites W2145632883 @default.
- W2955471867 cites W2162207896 @default.
- W2955471867 cites W2334779762 @default.
- W2955471867 cites W2485267956 @default.
- W2955471867 doi "https://doi.org/10.1109/cadiag.2018.8751435" @default.
- W2955471867 hasPublicationYear "2018" @default.
- W2955471867 type Work @default.
- W2955471867 sameAs 2955471867 @default.
- W2955471867 citedByCount "1" @default.
- W2955471867 countsByYear W29554718672021 @default.
- W2955471867 crossrefType "proceedings-article" @default.
- W2955471867 hasAuthorship W2955471867A5023042751 @default.
- W2955471867 hasAuthorship W2955471867A5073299095 @default.
- W2955471867 hasConcept C103203806 @default.
- W2955471867 hasConcept C141071460 @default.
- W2955471867 hasConcept C154945302 @default.
- W2955471867 hasConcept C2776111594 @default.
- W2955471867 hasConcept C2776914593 @default.
- W2955471867 hasConcept C2777984285 @default.
- W2955471867 hasConcept C2780047204 @default.
- W2955471867 hasConcept C2985005502 @default.
- W2955471867 hasConcept C3017684034 @default.
- W2955471867 hasConcept C41008148 @default.
- W2955471867 hasConcept C44154836 @default.
- W2955471867 hasConcept C71924100 @default.
- W2955471867 hasConcept C90509273 @default.
- W2955471867 hasConceptScore W2955471867C103203806 @default.
- W2955471867 hasConceptScore W2955471867C141071460 @default.
- W2955471867 hasConceptScore W2955471867C154945302 @default.
- W2955471867 hasConceptScore W2955471867C2776111594 @default.
- W2955471867 hasConceptScore W2955471867C2776914593 @default.
- W2955471867 hasConceptScore W2955471867C2777984285 @default.
- W2955471867 hasConceptScore W2955471867C2780047204 @default.
- W2955471867 hasConceptScore W2955471867C2985005502 @default.
- W2955471867 hasConceptScore W2955471867C3017684034 @default.
- W2955471867 hasConceptScore W2955471867C41008148 @default.
- W2955471867 hasConceptScore W2955471867C44154836 @default.
- W2955471867 hasConceptScore W2955471867C71924100 @default.
- W2955471867 hasConceptScore W2955471867C90509273 @default.
- W2955471867 hasLocation W29554718671 @default.
- W2955471867 hasOpenAccess W2955471867 @default.
- W2955471867 hasPrimaryLocation W29554718671 @default.
- W2955471867 hasRelatedWork W1485738490 @default.
- W2955471867 hasRelatedWork W1543001792 @default.
- W2955471867 hasRelatedWork W1560909274 @default.
- W2955471867 hasRelatedWork W1598273770 @default.
- W2955471867 hasRelatedWork W1642092999 @default.
- W2955471867 hasRelatedWork W2017153856 @default.
- W2955471867 hasRelatedWork W2140056630 @default.
- W2955471867 hasRelatedWork W2150050574 @default.
- W2955471867 hasRelatedWork W2277926303 @default.
- W2955471867 hasRelatedWork W2539462283 @default.
- W2955471867 hasRelatedWork W2731921789 @default.
- W2955471867 hasRelatedWork W2997285753 @default.
- W2955471867 hasRelatedWork W3083942091 @default.
- W2955471867 hasRelatedWork W51363253 @default.
- W2955471867 hasRelatedWork W82854566 @default.
- W2955471867 hasRelatedWork W1548023644 @default.
- W2955471867 hasRelatedWork W2101197931 @default.
- W2955471867 hasRelatedWork W2741250657 @default.
- W2955471867 hasRelatedWork W2761814737 @default.
- W2955471867 hasRelatedWork W3129801889 @default.
- W2955471867 isParatext "false" @default.
- W2955471867 isRetracted "false" @default.
- W2955471867 magId "2955471867" @default.
- W2955471867 workType "article" @default.