科研之友
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摘要
To treat a worldwide common ear disease called Otitis Media with Effusion, a robotic device allowing fast and automatic grommet tube insertion has been designed in our earlier works. However, the previous version has to be manually placed close to the tympanic membrane before the insertion procedures. For the purpose of realizing a fully automated surgical process, locating and realizing a suitable insertion path from outside the ear forms a crucial step. It is then desirable to control the working channel to be aligned to the axial direction of auditory canal from the vision channel. In this paper, a fast and robust vision-based servomechanism is proposed to achieve the planar alignment. To detect and track the region of auditory canal through the image sequences, an image segmentation algorithm based on the phase information and combining with the hough transformation technique is proposed. With the help of Kalman filter, a new look-and-move servomechanism can be achieved by utilizing the visual and motion measurements simultaneously, resulting in an effective and robust servoing performance.
- 出版日期2017-3
