NDLI: Stereo vision based intelligent system for middle ear treatment

Content Provider	IEEE Xplore Digital Library
Author	Wenchao Gao Kok Kiong Tan Wenyu Liang Chee Wee Gan Hsueh Yee Lim
Copyright Year	2013
Description	Author affiliation: Dept. of Otolaryngology, Nat. Univ. of Singapore, Singapore, Singapore (Chee Wee Gan; Hsueh Yee Lim) \|\| Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Wenchao Gao; Kok Kiong Tan; Wenyu Liang)
Abstract	Round window, a channel connecting the middle and inner ears, plays an important role in hearing process of human beings. Usually, localized medical treatment to the round window requires surgical treatment to be carried out by professional surgeons. In this paper, we propose a novel approach to explore the potential of robotic-based round window local therapy, leveraging on the technique of stereo computer vision and precise motion control algorithm. In our design, an endoscope acquires stereo images to reconstruct the 3D structure of the middle ear for locating the round window, and a robotic-based working channel will administer the process of drug placement. Once the round window is located via computer vision, the working channel with its end effector (dispensing needle) controlled by a motion controller will be driven to the target point under constrictive conditions of the middle ear. Compared to the traditional manual approaches, the proposed system can render a more accurate and efficient performance, employing precise sensing and manipulation technology outperforming the human senses and control, and thus reducing invasiveness and enhancing the surgery safety. Pre-clinical experiments are carried out to validate the feasibility of the proposed approach.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1426
Ending Page	1431
File Size	1623426
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739666
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Ear Cameras Endoscopes Needles Stereo vision Three-dimensional displays Surgery
Content Type	Text
Resource Type	Article

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