TY - GEN
T1 - Compact design of a dual master-slave system for maxillary sinus surgery
AU - Yoon, Hyun Soo
AU - Cha, Hyo Jeong
AU - Chung, Jaeheon
AU - Yi, Byung Ju
PY - 2013
Y1 - 2013
N2 - The pathway to the maxillary sinus area is anatomically curved and narrow. Thus, using the conventional approach based on the straight endoscope and surgical tools, there are some limitations in inspection and treatment of the target legion of the maxillary sinus. To cope with such problems, a dual master-slave system is investigated in this work for general maxillary sinus surgery. Initially, the need for dual arm operation is explained. A compact design of two 4-DOF end-effector mechanisms for acquiring the endoscopic image and performing biopsy is introduced. Next, a dual master device to control the motions of the two end-effector mechanisms is employed and a motion scheduling algorithm for a proper master-slave control is also developed. Finally, the feasibility of the dual master-slave system is verified through experimental work.
AB - The pathway to the maxillary sinus area is anatomically curved and narrow. Thus, using the conventional approach based on the straight endoscope and surgical tools, there are some limitations in inspection and treatment of the target legion of the maxillary sinus. To cope with such problems, a dual master-slave system is investigated in this work for general maxillary sinus surgery. Initially, the need for dual arm operation is explained. A compact design of two 4-DOF end-effector mechanisms for acquiring the endoscopic image and performing biopsy is introduced. Next, a dual master device to control the motions of the two end-effector mechanisms is employed and a motion scheduling algorithm for a proper master-slave control is also developed. Finally, the feasibility of the dual master-slave system is verified through experimental work.
UR - https://www.scopus.com/pages/publications/84893800714
U2 - 10.1109/IROS.2013.6697083
DO - 10.1109/IROS.2013.6697083
M3 - Conference contribution
AN - SCOPUS:84893800714
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5027
EP - 5032
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -