Active Cannula Robot with Misorientation Auto-Recovery Camera : A Method to Improve Hand-Eye Coordination in Minimally Invasive Surgery
- Active Cannula Robot with Misorientation Auto-Recovery Camera : A Method to Improve Hand-Eye Coordination in Minimally Invasive Surgery
- 샤오 리; 최태영; 전한용; Suhyeon Gim; 이수준; 강성철; 김계리
- Active cannula; Microsurgery; Misorientation Auto-Recovery; Hand-Eye Coordination
- Issue Date
- 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)
- We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This
robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three
concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a
motor with a decelerator. Elastic interaction is caused as tubes are translated and rotated relatively, which reshape the
cannula to bypass the barriers. In addition, vision system is also integrated into our system. However, when the
micro-camera fastened to the tip of cannula rotates together with the active cannula, the orientation of object presented
on the monitor is always changing, which will complicate manual dexterity among surgeons. To solve this problem, we
design a real-time misorientation auto-recovery algorithm for calibrating the rotation angle and confirm it by experiment.
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