標題: | A Study on Motion Control of a Robotic Endoscope Holder Using Speech Recognition |
作者: | Zinchenko, Kateryna Wu, Chien-Yu Song, Kai-Tai 資訊工程學系 電控工程研究所 Department of Computer Science Institute of Electrical and Control Engineering |
關鍵字: | Automation system;motion control;robotic surgery;human-robot interface;speech recognition control |
公開日期: | 2016 |
摘要: | This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to the robotic holder using serial port communication through RS232 cable. Experimental results show that the proposed control strategy has navigation precision up to 2.5mm or 7.7\'degrees in horizontal direction, 1.8mm or 3.150 degrees in vertical direction and 9 mm precision during insertion task with camera tip located at distance of 5 cm after RCM point. Average latency between two consecutive commands was 3.34s. |
URI: | http://hdl.handle.net/11536/136471 |
ISBN: | 978-1-4673-8075-1 |
期刊: | PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) |
起始頁: | 1472 |
結束頁: | 1475 |
顯示於類別: | 會議論文 |