Department of Electrical and Computer Engineering, National University of Singapore, Singapore; NUS Graduate School for Integrative Sciences and Engineering, National University of Singapore, Singapore.
Department of Electrical and Computer Engineering, National University of Singapore, Singapore.
ISA Trans. 2016 Nov;65:567-576. doi: 10.1016/j.isatra.2016.09.005. Epub 2016 Oct 5.
To treat a worldwide common ear disease (OME), a device allowing fast grommet tube insertion has been designed in our earlier works (Gao et al., 2015 [1] and Liang et al., 2013 [2]). However, the instrument has to be manually placed as close as to the Tympanic Membrane before the insertion procedures. To realize a fully automated surgical process, the instrument shall be automatically manipulated to align to the axial direction of ear canal and proceed to complete the surgery. A vision-based servomechanism is proposed to solve the path planning problem. A fuzzy-gain-scheduled controller is proposed to minimize the projection error based on the image detection and the proximity measurement. The proposed controller is proven to outperform the traditional PI controller in pre-clinical trials.
为了治疗一种全球性的常见耳部疾病（OME），我们在之前的工作中设计了一种可以快速插入鼓膜管的设备（Gao 等人，2015[1]和 Liang 等人，2013[2]）。然而，在插入手术之前，该仪器必须手动放置在尽可能接近鼓膜的位置。为了实现完全自动化的手术过程，仪器应自动操纵以对准耳道的轴向并完成手术。提出了一种基于视觉的随动机构来解决路径规划问题。提出了一种模糊增益调度控制器，根据图像检测和接近度测量来最小化投影误差。在临床前试验中，所提出的控制器被证明优于传统的 PI 控制器。
