Visually guided robot control for examination of the throat by naso-endoscopy

Charles R. Allen; Corinne Boscand; Muriel Bories

doi:10.1117/12.150214

6 August 1993 Visually guided robot control for examination of the throat by naso-endoscopy

Charles R. Allen, Corinne Boscand, Muriel Bories

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150214
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

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.

Citation Download Citation

Charles R. Allen, Corinne Boscand, and Muriel Bories "Visually guided robot control for examination of the throat by naso-endoscopy", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150214

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