Endoscopic Laser Surgery: Design, Modeling, and Control - Archive ouverte HAL
Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2017

Endoscopic Laser Surgery: Design, Modeling, and Control

Résumé

This paper deals with the design, modeling and control of a compact endoscopic tip for laser steering. It consists of a two degrees-of-freedom (DOF) microrobotic device based on two linear piezoelectric motors associated with a deformable microfabricated Silicon mirror. The proposed device is integrated into an endoscopic tip for microrobot-assisted vocal fold laser microsurgery. The laser motions on the target tissue are controlled using the microrobot device and through a path following scheme combined with a visual servoing controller. Indeed, the surgeon defines, using a tablet, a path to be followed automatically by the laser at high frequency and under a predefined fixed velocity. The developed device was validated successfully in both realist testbench and preclinical cadaver trials.
Fichier principal
Vignette du fichier
tmech2018.pdf (3.14 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03097643 , version 1 (05-01-2021)

Licence

Domaine public

Identifiants

Citer

Rupert Renevier, Brahim Tamadazte, Kanty Rabenorosoa, Laurent Tavernier, Nicolas Andreff. Endoscopic Laser Surgery: Design, Modeling, and Control. IEEE/ASME Transactions on Mechatronics, 2017, 22 (1), pp.99-106. ⟨10.1109/TMECH.2016.2595625⟩. ⟨hal-03097643⟩
39 Consultations
173 Téléchargements

Altmetric

Partager

More