Modeling, design and control of an endoscope manipulator for FESS

Weiyang Lin, David Navarro Alarcon, Peng Li, Zerui Wang, Hiu Man Yip, Yun Hui Liu, Michael C.F. Tong

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

13 Citations (Scopus)


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.
Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages6
ISBN (Electronic)9781479999941
Publication statusPublished - 11 Dec 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Congress Center Hamburg (CCH), Hamburg, Germany
Duration: 28 Sept 20152 Oct 2015


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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