{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T02:54:33Z","timestamp":1771037673718,"version":"3.50.1"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2022,3,24]],"date-time":"2022-03-24T00:00:00Z","timestamp":1648080000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>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.<\/jats:p>","DOI":"10.1017\/s026357472200011x","type":"journal-article","created":{"date-parts":[[2022,3,25]],"date-time":"2022-03-25T04:00:07Z","timestamp":1648180807000},"page":"3157-3177","source":"Crossref","is-referenced-by-count":3,"title":["Visual servoing of a laser beam through a mirror"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9843-1172","authenticated-orcid":false,"given":"Japheth Ka\u2019pesha","family":"Odira","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nicolas","family":"Andreff","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luc","family":"Petiet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean Bosco","family":"Byiringiro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,3,24]]},"reference":[{"key":"S026357472200011X_ref3","doi-asserted-by":"publisher","DOI":"10.1097\/00005537-200301000-00002"},{"key":"S026357472200011X_ref6","unstructured":"[6] Mattos, L. S. and Andreff, N. , \u201cThe ralp Project: New Technologies and Systems for Robot-Assisted Laser Phonomicrosurgery,\u201d 3rd Joint Workshop on New Technologies for Computer\/Robot Assisted Surgery, DOI, vol. 10 (2013)."},{"key":"S026357472200011X_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152609"},{"key":"S026357472200011X_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2400660"},{"key":"S026357472200011X_ref28","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cvi.2016.0156"},{"key":"S026357472200011X_ref5","unstructured":"[5] Israel, L. , \u201cDigital acublade system. israel@ [online],\u201d (2014). Available: http:\/\/www.surgical.lumenis.com"},{"key":"S026357472200011X_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915585585"},{"key":"S026357472200011X_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980080"},{"key":"S026357472200011X_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2004.836152"},{"key":"S026357472200011X_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942641"},{"key":"S026357472200011X_ref27","first-page":"143","volume-title":"3rd International Conference on Soft Computing and Machine Intelligence (ISCMI)","author":"Zhao","year":"2016"},{"key":"S026357472200011X_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3075207"},{"key":"S026357472200011X_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.96"},{"key":"S026357472200011X_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-79136-2_6"},{"key":"S026357472200011X_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/78.978386"},{"key":"S026357472200011X_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84996-089-2_1"},{"key":"S026357472200011X_ref30","doi-asserted-by":"crossref","unstructured":"[30] Wloka, M. M. and Anderson, B. G. , \u201cResolving Occlusion in Augmented Reality,\u201d Proceedings of the 1995 Symposium on Interactive 3D Graphics (1995) pp. 5\u201312.","DOI":"10.1145\/199404.199405"},{"key":"S026357472200011X_ref16","doi-asserted-by":"publisher","DOI":"10.1117\/12.934098"},{"key":"S026357472200011X_ref2","unstructured":"[2] Giallo, J. F. II. , Lalush, D , Nagle, H. T. , Finley, C. , Buckmire, R. , Grant, E. , A medical robotic system for laser phonomicrosurgery (PhD Dissertation, North Carolina State University, Raleigh, NC, USA,2008)."},{"key":"S026357472200011X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/70.143350"},{"key":"S026357472200011X_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/34.927458"},{"key":"S026357472200011X_ref29","doi-asserted-by":"crossref","unstructured":"[29] Fischer, J. , Regenbrecht, H. and Baratoff, G. , \u201cDetecting Dynamic Occlusion in Front of Static Backgrounds for AR Scenes,\u201d Proceedings of the Workshop on Virtual Environments 2003 (2003) pp. 153\u2013161.","DOI":"10.1145\/769953.769971"},{"key":"S026357472200011X_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487186"},{"key":"S026357472200011X_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989439"},{"key":"S026357472200011X_ref1","volume-title":"Atlas of Phonomicrosurgery and Other Endolaryngeal Procedures for Benign and Malignant Disease","author":"Zeitels","year":"2001"},{"key":"S026357472200011X_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_25"},{"key":"S026357472200011X_ref11","doi-asserted-by":"publisher","DOI":"10.1161\/CIRCEP.113.000431"},{"key":"S026357472200011X_ref7","first-page":"99","article-title":"Endoscopic laser surgery: Design, modeling, and control","volume":"22","author":"Renevier","year":"2016","journal-title":"Mech."},{"key":"S026357472200011X_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/70.538972"},{"key":"S026357472200011X_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2821239"},{"key":"S026357472200011X_ref8","article-title":"A novel computerized surgeon\u2013machine interface for robot-assisted laser phonomicrosurgery","volume":"124","author":"Mattos","year":"1887\u20131894 (2014","journal-title":"Laryngoscope"},{"key":"S026357472200011X_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.45"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357472200011X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T05:12:09Z","timestamp":1659330729000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357472200011X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,24]]},"references-count":32,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["S026357472200011X"],"URL":"https:\/\/doi.org\/10.1017\/s026357472200011x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,24]]}}}