Hall Effect Sensing Workspace Estimation with Non-Permanent Magnetic Needle for Eye Anesthesia Training System via Robotic Experiments
Korn Borvorntanajanya, Jackrit Suthakorn
Abstract
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.
BibTeX
@inproceedings{icra2018_halleffectsensin,
title = {Hall Effect Sensing Workspace Estimation with Non-Permanent Magnetic Needle for Eye Anesthesia Training System via Robotic Experiments},
author = {Korn Borvorntanajanya and Jackrit Suthakorn},
booktitle = {ICRA 2018},
year = {2018}
}