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	Approach and Control for Robot Assisted Sinus Surgery
	Zeyu Zeng; Yucheng He; Qi Zhang; Ying Hu; Yong Cao
	2017
会议地点	中国澳门
英文摘要	In traditional endoscopic sinus surgery, the doctor has to hold the endoscopy in one hand，doing the surgery in the complicate nasal cavity with another hand holding the surgical instrument. Based on the nasal surgery scene people have developed many robot assisted sinus surgery (RASS) systems, which have provided surgeons stable surgical vision，improved the efficiency of surgery. However, most of these systems acquire operator to select multiple robot path points from the nostril to the surgical area (sinus), which is very time consuming and laborious. In this paper, we develop an improved A-star algorithm that can obtain path automatically only need to select the start point and target point. After registered four work coordinate spaces, we apply traditional A-star path planning algorithm with robot kinematic characteristics. Unlike previous approaches, trying to ensure the Remote Center of Motion (RCM) by design mechanical structure first, the control algorithm makes the endoscopy move in RCM mod, which meets the safety requirements. We have obtained promising results when we test our new approach.
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/11799]
专题	深圳先进技术研究院_集成所
作者单位	2017
推荐引用方式 GB/T 7714	Zeyu Zeng,Yucheng He,Qi Zhang,et al. Approach and Control for Robot Assisted Sinus Surgery[C]. 见:. 中国澳门.

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