Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Knockout analysis of period and timeless and EGFP-based visualization of per-expressing clock cells in the cricket circadian clock.

Zoological letters·2026

Same author

Long-Term Vascular Remodeling After Headache-Onset Intracranial Vertebral Artery Dissection.

AJNR. American journal of neuroradiology·2026

Same author

Second Guidelines for the Diagnosis and Treatment of Vitiligo in Japan (2025).

The Journal of dermatology·2026

Same author

Gene misexpression system for functional studies of genes involved in cuticle development in the cricket Gryllus bimaculatus.

Insect molecular biology·2026

Same author

Aberrant laminin signaling drives melanocyte dedifferentiation and unveils a tractable therapeutic target in vitiligo.

Nature communications·2026

Same author

Identification of Paramyosin as a Novel Allergen in Edible Cricket Protein.

Journal of nutritional science and vitaminology·2026

Search research articles

Related Experiment Video

Updated: Jun 18, 2026

Investigating Pain-Related Avoidance Behavior using a Robotic Arm-Reaching Paradigm

Investigating Pain-Related Avoidance Behavior using a Robotic Arm-Reaching Paradigm

Published on: October 3, 2020

Autonomous avoidance based on motion delay of master-slave surgical robot.

Shintaro Inoue¹, Kazutaka Toyoda, Yo Kobayashi

¹Graduate School of Science and Engineering, Waseda University, Shinjuku-ku, Tokyo, Japan. shin-29-kep@moegi.waseda.jp

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 8, 2009

Summary

This study introduces a new algorithm for master-slave robots in endoscopic surgery. The delay compensation program enhances autonomous motion safety by accounting for robot dynamics, preventing vital organ contact.

More Related Videos

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Related Experiment Videos

Last Updated: Jun 18, 2026

Investigating Pain-Related Avoidance Behavior using a Robotic Arm-Reaching Paradigm

Investigating Pain-Related Avoidance Behavior using a Robotic Arm-Reaching Paradigm

Published on: October 3, 2020

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Area of Science:

Robotics
Surgical Technology
Control Systems Engineering

Background:

Safe endoscopic surgery necessitates autonomous robot motions to prevent accidental contact with critical anatomical structures.
Master-slave robotic systems offer precision but require advanced control for intraoperative safety.

Purpose of the Study:

To develop and evaluate an avoidance control algorithm with delay compensation for master-slave robots in endoscopic surgery.
To enhance the safety of autonomous surgical robot movements by mitigating risks to vital organs, blood vessels, and nerves.

Main Methods:

Characterization of the dynamic properties of the slave-manipulator by measuring the frequency response of each joint.
Development of a novel avoidance control algorithm incorporating delay compensation based on the robot's dynamic model.

Main Results:

The implemented delay compensation algorithm effectively improved the robot's avoidance performance during simulated autonomous motions.
Measurements of joint frequency characteristics provided crucial parameters for the control algorithm's tuning.

Conclusions:

The proposed avoidance control algorithm with delay compensation is a promising advancement for safe autonomous operations in endoscopic robotic surgery.
Accounting for robot dynamics and incorporating delay compensation are critical for enhancing safety and preventing iatrogenic injuries.