Share Email Print
cover

Proceedings Paper

Visually guided robot control for examination of the throat by naso-endoscopy
Author(s): Charles R. Allen; Corinne Boscand; Muriel Bories
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

Intrusive examination of patients using flexible endoscopes is commonly employed by surgeons in pre- and post-operative examination of treatment related to laryngeal illness. The insertion of naso-endoscopes through the nasal cavity is a skilled and awkward task, and viewing is limited due to the small image viewed through an eyepiece. This paper described tests undertaken in the laboratory on a scale model of the human head where an anthropomorphic robot manipulator has been adapted to allow it to assist the surgeon in endoscopic examination. Visual feedback is provided to allow fine corrections to be made automatically by the robot for focusing and glottis orientation. Corrections are adjusted by a joystick control.

Paper Details

Date Published: 6 August 1993
PDF: 10 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150214
Show Author Affiliations
Charles R. Allen, Univ. of Newcastle upon Tyne (United Kingdom)
Corinne Boscand, Univ. of Newcastle upon Tyne (United Kingdom)
Muriel Bories, Univ. of Newcastle upon Tyne (United Kingdom)


Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

© SPIE. Terms of Use
Back to Top