DocumentCode
2547910
Title
Active bending endoscope robot system for navigation through sinus area
Author
Yoon, Hyun-Soo ; Oh, Se Min ; Jeong, Jin Hyeok ; Lee, Seung Hwan ; Tae, Kyung ; Koh, Kyoung-Chul ; Yi, Byung-Ju
Author_Institution
Dept. of Electron., Electr., Control, & Instrum. Eng., Hanyang Univ., Seoul, South Korea
fYear
2011
fDate
25-30 Sept. 2011
Firstpage
967
Lastpage
972
Abstract
This work introduces a new endoscope robot system for general sinus surgery. The proposed endoscope can be bent in accordance with a user´s intension at the time of inserting the endoscope into the sinus area, and it was designed to be bent up to 180 degrees and its diameter is about 4mm. The design of the proposed endoscope uses a spring backbone, which allows flexibility of the mechanism. A design method to determine design parameters for this device is proposed. The performance of the proposed system is verified by integration of the robot device and simulator.
Keywords
endoscopes; medical robotics; path planning; surgery; active bending endoscope robot system; design parameter; general sinus surgery; navigation; robot device; sinus area; spring backbone; Endoscopes; Graphics; Joints; Robots; Springs; Surgery; Wires;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location
San Francisco, CA
ISSN
2153-0858
Print_ISBN
978-1-61284-454-1
Type
conf
DOI
10.1109/IROS.2011.6094774
Filename
6094774
Link To Document