| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 106 === Seeing the trend of robot-assisted minimally invasive surgeries evolves into a type of human-robot interaction, the research is motivated to pursue the safety of medical staff by the idea of obstacle/ collision avoidance of the surgical robotic arms, in case of robots accidentally injure surgeons. The goal of the research is to find the minimum distance between surgeons'' body parts and robotic arms. The minimum distance derivation should be sophisticated and fast enough, in order to support the collision avoidance control with complete minimum distance information.
By the skeletal tracking feature of the depth sensor, Microsoft Kinect, theories on forward kinematics, the location of human and robot can be defined in a three-dimensional space. Based on existing researches, a revised, easier and even faster minimum distance derivation method is developed. This derivation method is applicable to the robotic arm in simulation and experiments, and fulfills the target of this research.
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