A study on motion control of a robotic endoscope holder using speech recognition

Kateryna Zinchenko, Chien Yu Wu, Kai-Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

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° in horizontal direction, 1.8mm or 3.15° 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.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1472-1475
Number of pages4
ISBN (Electronic)9781467380751
DOIs
StatePublished - 19 May 2016
EventIEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan
Duration: 14 Mar 201617 Mar 2016

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2016-May

Conference

ConferenceIEEE International Conference on Industrial Technology, ICIT 2016
CountryTaiwan
CityTaipei
Period14/03/1617/03/16

Keywords

  • Automation system
  • human-robot interface
  • motion control
  • robotic surgery
  • speech recognition control

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  • Cite this

    Zinchenko, K., Wu, C. Y., & Song, K-T. (2016). A study on motion control of a robotic endoscope holder using speech recognition. In Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 (pp. 1472-1475). [7474976] (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2016-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2016.7474976