Refereed conference paper presented and published in conference proceedings
香港中文大学研究人员 ( 现职)
| 唐志辉教授 (耳鼻咽喉-头颈外科学系) |
| 刘云辉教授 (机械与自动化工程学系) |
| 李鹏博士 (信兴高等工程研究所) |
全文
| 数位物件识别号 (DOI) http://dx.doi.org/10.1109/ICInfA.2013.6720476 |
引用次数
Scopushttp://aims.cuhk.edu.hk/converis/portal/Publication/5Scopus source URL
其它资讯
摘要This paper presents a new robotic system that assists surgeons in manipulating the endoscope during nasal surgical procedures. The presented robotic system has four degrees of freedom (DOF) arm with a wire-driven double parallelogram mechanism to control the three orientation angles and the insertion depth of the endoscope in the nasal cavity in a decoupled manner. The double parallelogram mechanism leads to a remote center of motion (RCM) at the entry point of the patient's nostril. One of the important features of the developed robot is that the safety of the operation is guaranteed by passive mechanisms and active force control. The passive mechanisms protect safety of the surgeons, the patient and the motors as well. The active force control algorithm monitors the interaction force exerted at the robot by the external environment and control it within a safe threshold. Voice and foot control interfaces have also been developed to facilitate the surgeon to fully control the robotic system without using hands. Experiments with manikin, animal and human cadaver have been conducted to demonstrate the performance of the developed robotic system. ? 2013 IEEE.
着者Li P., Yip H.M., Navarro-Alarcon D., Liu Y., Tong C.F.M., Leung I.
会议名称2013 IEEE International Conference on Information and Automation, ICIA 2013
会议开始日26.08.2013
会议完结日28.08.2013
会议地点Yinchuan
会议国家中国
详细描述organized by IEEE,
出版年份2013
月份12
日期1
页次1194 - 1199
国际标準书号9781479913343
语言英式英语
关键词human-robot interface, nasal surgery, remote center of motion, robot-assisted surgery
