Publication

Hanyang University HumanRobotics Lab

Domestic Journal
초음파 센서기반 추적 알고리즘을 이용한 자동 수술 조명 로봇 시스템
Journal
Journal of Biomedical Engineering Research
Vol
Vol. 28, No.3
Page
pp. 363-368
Author
최동걸, 이병주, 김영수
Year
2007
Date
2007
File
초음파 센서기반 추적 알고리즘을 이용한 자동 수술 조명 로봇 시스템.pdf (1.0M) 0회 다운로드 DATE : 2020-10-16 22:19:50
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.