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) |
| Professor David NAVARRO ALARCON (机械与自动化工程学系) |
| 林伟阳博士 (机械与自动化工程学系) |
全文
| 数位物件识别号 (DOI) http://dx.doi.org/10.1109/IROS.2015.7353465 |
引用次数
Scopushttp://aims.cuhk.edu.hk/converis/portal/Publication/1Scopus source URL
其它资讯
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.
着者Lin W., Navarro-Alarcon D., Li P., Wang Z., Yip H.M., Liu Y.-H., Tong M.C.F.
会议名称IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 20http://aims.cuhk.edu.hk/converis/portal/Publication/15
会议开始日28.09.20http://aims.cuhk.edu.hk/converis/portal/Publication/15
会议完结日02.http://aims.cuhk.edu.hk/converis/portal/Publication/10.20http://aims.cuhk.edu.hk/converis/portal/Publication/15
会议地点Hamburg
会议国家德国
出版年份20http://aims.cuhk.edu.hk/converis/portal/Publication/15
月份http://aims.cuhk.edu.hk/converis/portal/Publication/12
日期http://aims.cuhk.edu.hk/converis/portal/Publication/1http://aims.cuhk.edu.hk/converis/portal/Publication/1
卷号20http://aims.cuhk.edu.hk/converis/portal/Publication/15-December
页次8http://aims.cuhk.edu.hk/converis/portal/Publication/1http://aims.cuhk.edu.hk/converis/portal/Publication/1 - 8http://aims.cuhk.edu.hk/converis/portal/Publication/16
国际标準书号978http://aims.cuhk.edu.hk/converis/portal/Publication/147999994http://aims.cuhk.edu.hk/converis/portal/Publication/1
国际标準期刊号2http://aims.cuhk.edu.hk/converis/portal/Publication/153-0866
语言英式英语
