Medical Pan-Tilt Control System Based on Binocular Vision
A multi-DoF pan-tilt that tracks clinicians and patients during procedures and rehabilitation.
In many clinical settings a camera cannot cover the workspace unless someone keeps repositioning it. Traditional recording setups are limited and rarely automatic. This project designed a multi-degree-of-freedom pan-tilt that tracks the positions of clinicians and patients.
The mechanical design uses internally toothed rotary bearings to keep the structure compact, with protection around the sensors. An STM32 and A4988 drivers run the pan-tilt hardware, and the board talks to a ROS host so motion commands live in the same stack as the rest of the robot.
Short-term single-target tracking uses HOG and SIFT feature matching and stays reasonably stable when the target’s appearance changes. The experimental platform was 3D-printed, with a RealSense camera and stepper motors.