An Endoscope Holder with Automatic Tracking Feature for Nasal Surgery
文献类型：会议论文
| 作者 | Xinxin Dai; Baoliang Zhao; Shijia Zhao; Yucheng He; Yu Sun; Peng Gao; Ying Hu; Jianwei Zhang |
| 出版日期 | 2016 |
| 会议名称 | International Conference on Information and Automation |
| 会议地点 | 宁波 |
| 英文摘要 | Endoscopic nasal surgery is with minimal invasiveness for the surgical treatment of chronic sinusitis or other nasal diseases. During the endoscopic surgery, the surgeon uses one hand to hold the endoscope and the other hand to hold the surgical instruments within the nasal cavity. In some cases, the endoscope has to be held by the assistant when the surgeon needs to use both hands to manipulate the surgical instruments. This paper presents a new robotic system to assist the surgeon in holding the endoscope during the nasal surgery. The endoscope can follow the specified tool in an intelligent and autonomous way. The endoscope holder is a robotic arm which has seven degrees of freedom (DOF) to control the position and orientation. A double parallelogram mechanism is used to create the remote center of motion (RCM). Optical positioning device is integrated in this system for position and orientation tracking. With the new robotic system, the surgeon can use both hands to manipulate surgical instruments. The tracking algorithm can guarantee the endoscope to follow the motion of the instrument exactly, safely and real-time. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10053]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Xinxin Dai,Baoliang Zhao,Shijia Zhao,et al. An Endoscope Holder with Automatic Tracking Feature for Nasal Surgery[C]. 见:International Conference on Information and Automation. 宁波. |
入库方式： OAI收割
来源：深圳先进技术研究院
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