Development of a robotic endoscope holder for nasal surgery

Peng Li, Hiu Man Yip, David Navarro Alarcon, Yunhui Liu, Chi Fai Michael Tong, Iris Leung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

15 Citations (Scopus)

Abstract

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.
Original languageEnglish
Title of host publication2013 IEEE International Conference on Information and Automation, ICIA 2013
Pages1194-1199
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event2013 IEEE International Conference on Information and Automation, ICIA 2013 - Yinchuan, China
Duration: 26 Aug 201328 Aug 2013

Conference

Conference2013 IEEE International Conference on Information and Automation, ICIA 2013
CountryChina
CityYinchuan
Period26/08/1328/08/13

Keywords

  • human-robot interface
  • nasal surgery
  • remote center of motion
  • robot-assisted surgery

ASJC Scopus subject areas

  • Information Systems

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