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1 results

  • Visual servoing of a laser beam through a mirror

  • Japheth Ka’pesha Odira, Nicolas Andreff, Luc Petiet, Jean Bosco Byiringiro
  • Journal:
    Robotica / Volume 40 / Issue 9 / September 2022
    Published online by Cambridge University Press:
    24 March 2022, pp. 3157-3177
    • Article
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  • In this study, we present a new approach to improving vocal fold access to perform phonomicrosurgery. It is done by shooting the laser through a mirror to reach the vocal fold hidden parts. A geometrical study of laser shooting path was conducted for vocal fold anatomical constraints, followed by devising a laser-shooting system conceptual design. Control laws were developed and tested by simulation and validated experimentally on a test bench in a monocular and stereoscopic configuration. Simulation and experimental results are provided to demonstrate the effectiveness of the developed approach.