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Title: Hall effect sensing workspace estimation with non-permanent magnetic needle for eye anesthesia training system via robotic experiments
Authors: Korn Borvorntanajanya
Jackrit Suthakorn
Mahidol University
Keywords: Computer Science;Engineering
Issue Date: 10-Sep-2018
Citation: Proceedings - IEEE International Conference on Robotics and Automation. (2018), 4019-4024
Abstract: © 2018 IEEE. Ophthalmic anesthesia is an important preparation for eye surgery. The conventional practice is performed blind in a cadaver under the supervision of an experienced surgeon. This paper introduces a needle tip tracking system for ophthalmic anesthesia training without major modification of an anesthesia needle. The study presents a prototyped system to track a magnetized needle tip using Hall-effect sensor array. The orbital structure model was embedded with Hall-effect sensors after considering the sensing workspace and ophthalmic anesthesia pathway. The extended Kalman filter was used to calculate needle tip position. A commercial robotic manipulator was used to model the characteristics of sensor and accuracy of the developed system. A prototype can detect needle tip position with a root-mean-square deviation around 1.80 mm. As a result, the system is capable of providing needle tip positions for training purposes.
ISSN: 10504729
Appears in Collections:Scopus 2018

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