Publication: Hall effect sensing workspace estimation with non-permanent magnetic needle for eye anesthesia training system via robotic experiments
Issued Date
2018-09-10
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10504729
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2-s2.0-85063148153
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Mahidol University
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SCOPUS
Bibliographic Citation
Proceedings - IEEE International Conference on Robotics and Automation. (2018), 4019-4024
Suggested Citation
Korn Borvorntanajanya, Jackrit Suthakorn Hall effect sensing workspace estimation with non-permanent magnetic needle for eye anesthesia training system via robotic experiments. Proceedings - IEEE International Conference on Robotics and Automation. (2018), 4019-4024. doi:10.1109/ICRA.2018.8461015 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/45563
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Title
Hall effect sensing workspace estimation with non-permanent magnetic needle for eye anesthesia training system via robotic experiments
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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.