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

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摘要This 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.
著者Lin W., Navarro-Alarcon D., Li P., Wang Z., Yip H.M., Liu Y.-H., Tong M.C.F.
會議名稱IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
會議開始日28.09.2015
會議完結日02.10.2015
會議地點Hamburg
會議國家/地區德國
出版年份2015
月份12
日期11
卷號2015-December
頁次811 - 816
國際標準書號9781479999941
國際標準期刊號2153-0866
語言英式英語

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