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Published in:
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2020 | OriginalPaper | Chapter

6. Automated Trajectory Executions

Author : Dr. Alperen Acemoglu

Published in: A Magnetic Laser Scanner for Endoscopic Microsurgery

Publisher: Springer International Publishing

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Abstract

In surgical operations, deep laser incisions are performed on customized trajectories with repetitive passes. After defining desired trajectories with a tablet device, the laser manipulation system must perform the desired trajectory accurately. In this chapter, accuracy assessment of the magnetic laser scanner is performed considering predefined trajectories with different sizes and speeds. Validation experiments are performed with the feed-forward controller derived in Chap. 4. Results are discussed based on the achieved laser position accuracy and bending angles of the cantilever beam.

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previous chapter Teleoperation User Trials
next chapter Laser Incision Depth Control
Literature
1.
Acemoglu A, Pucci D, Mattos LS (2019) Design and control of a magnetic laser scanner for endoscopic microsurgeries. IEEE/ASME Trans Mechatron
2.
Garofolo S, Piazza C, Del Bon F, Mangili S, Guastini L, Mora F, Nicolai P, Peretti G (2015) Intraoperative narrow band imaging better delineates superficial resection margins during transoral laser microsurgery for early glottic cancer. Ann Otol Rhinol Laryngol 124(4):294–298CrossRef
3.
Shoffel-Havakuk H, Lahav Y, Davidi ES, Haimovich Y, Hain M, Halperin D (2016) The role of separate margins sampling in endoscopic laser surgery for early glottic cancer. Acta oto-laryngologica 136(5):491–496CrossRef
4.
Remacle M, Hassan F, Cohen D, Lawson G, Delos M (2005) New computer-guided scanner for improving CO\(_2\) laser-assisted microincision. Eur Arch Oto-Rhino-Laryngol Head & Neck 262(2):113–119CrossRef
5.
Remacle M, Lawson G, Nollevaux M-C, Delos M (2008) Current state of scanning micromanipulator applications with the carbon dioxide laser. Ann Otol Rhinol Laryngol 117(4):239–244CrossRef
Metadata
Title
Automated Trajectory Executions
Author
Dr. Alperen Acemoglu
Copyright Year
2020
Book
A Magnetic Laser Scanner for Endoscopic Microsurgery

Print ISBN: 978-3-030-23192-7

Electronic ISBN: 978-3-030-23193-4

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-23193-4_6