Modeling, design and control of an endoscope manipulator for FESS
Refereed conference paper presented and published in conference proceedings


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AbstractThis paper presents the development of an endoscope manipulator with passive and active structures for functional endoscopic sinus surgery (FESS). The 5-DoF passive structure has three translations and two rotations (T3R2) that allows the surgeon to manually place the endoscope near to the entry point during. The 4-DoF motorized structure (T2R2) actively controls the endoscope's position based on the surgeon's input commands. We analyze the reciprocal screw of the passive and active structures. The motion control system is based on a real-time Linux kernel that processes the commands from the surgeon and controls the manipulator's active joints. A user control interface based on an IMU fastened on the surgeon's foot is developed; this interface measures the foot's posture and through a series of gestures, it provides the desired pan/tilt/zoom motions of the camera. The developed endoscope manipulator allows the surgeon to conduct 'two-hand' operations while retaining direct control of the camera. We present an experimental study to validate the performance of the robotic prototype.
All Author(s) ListLin W., Navarro-Alarcon D., Li P., Wang Z., Yip H.M., Liu Y.-H., Tong M.C.F.
Name of ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Start Date of Conference28/09/2015
End Date of Conference02/10/2015
Place of ConferenceHamburg
Country/Region of ConferenceGermany
Year2015
Month12
Day11
Volume Number2015-December
Pages811 - 816
ISBN9781479999941
ISSN2153-0866
LanguagesEnglish-United Kingdom

Last updated on 2021-18-01 at 00:32