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초음파 센서기반 추적 알고리즘을 이용한 자동 수술 조명 로봇 시스템Implementation of Auto Surgical Illumination Robotic System Using Ultrasonic Sensor-based Tracking Algorithm
- Other Titles
- Implementation of Auto Surgical Illumination Robotic System Using Ultrasonic Sensor-based Tracking Algorithm
- Issue Date
- Jun-2007
- Publisher
- 대한의용생체공학회
- Keywords
- index terms tracking; Illumination robot; ultra sonar sensor
- Citation
- 의공학회지, v.28, no.3, pp.363 - 368
- Indexed
- KCI
- Journal Title
- 의공학회지
- Volume
- 28
- Number
- 3
- Start Page
- 363
- End Page
- 368
- ISSN
- 1229-0807
- Abstract
- Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)