An Assistant Robot System for Sinus Surgery
文献类型：期刊论文
| 作者 | Yucheng He; Baoliang Zhao; Xilong Hou; Peng Gao; Ying Hu; Peng Zhang |
| 刊名 | JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
 |
| 出版日期 | 2016 |
| 英文摘要 | Traditionally, sinus surgery is conducted by surgeons with their only one hand, because the other hand is used to hold the endoscope. This manner leads to a long surgery time, a bad surgery result, and a longer recover time for patients [1]. Many researchers try to employ a robot to replace the surgeon’s left hand to hold the endoscope for sinus surgery. In Ref. [1], Zhang et al. have designed a passive endoscopic robot for sinus surgery and discussed the locking methods of the passive joints; in Ref. [2]Navarro-Alarcon et al. have designed a robotic endoscope holder and employed passivity-based control techniques to guarantee the stable manipulation; and in Ref. [3], Trevillot et al. have quantified the motion and force ranges and designed a compact endoscope positioner dedicated to sinonasal tract surgery. This paper introduces a seven degree-of-freedom (DOF) active sinus robot which can adjust position and orientation of the endoscope. The robot is also equipped with a force/torque sensor which would feedback the contact force information between patient and robot. This paper discusses the design and kinematic analysis of this robot, the prototype and primary experiment results, and the control logic of the whole system. |
| 收录类别 | SCI |
| 原文出处 | http://medicaldevices.asmedigitalcollection.asme.org/article.aspx?articleID=2542256 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/9831]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME |
| 推荐引用方式 GB/T 7714 | Yucheng He,Baoliang Zhao,Xilong Hou,et al. An Assistant Robot System for Sinus Surgery[J]. JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME,2016. |
| APA | Yucheng He,Baoliang Zhao,Xilong Hou,Peng Gao,Ying Hu,&Peng Zhang.(2016).An Assistant Robot System for Sinus Surgery.JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME. |
| MLA | Yucheng He,et al."An Assistant Robot System for Sinus Surgery".JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME (2016). |
入库方式： OAI收割
来源：深圳先进技术研究院
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