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KMID : 1137820070280030363
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의공학회지
2007 Volume.28 No. 3 p.363 ~ p.368
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Implementation of Auto Surgical Illumination Robotic System Using Ultrasonic Sensor-Based Tracking Algorithm
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Choi Dong-Gul
Lee Byung-Ju
Kim Young-Su
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Abstract
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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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KEYWORD
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index terms tracking, Illumination robot, ultra sonar sensor
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