Mjerenje točnosti i preciznosti robota

master's thesis

• Title (english): Measurement of robot accuracy and precision
• Author: Ivan Stiperski
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2016-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Primjena robotskih stereotaktičkih sustava u području medicine sve je intenzivnija. Razvoj novih tehnologija omogućio je primjenu robota u zahvatima stereotaktičke neurokirurgije gdje je zahtijevana točnost i preciznost unutar milimetra. Svakom novom sustavu prije primjene potrebno je objektivnom metodom mjerenja utvrditi točnost na fantomima tj. artefaktima koji simuliraju glavu pacijenta. Fantomi razvijeni za mjerenje stereotaktičkih postupaka moraju pružiti točnu repliku zamišljenih trajektorija u stereotaktičkim postupcima.

U okviru ovog rada dan je detaljan pregled područja robotizirane stereotaktičke neurokirurgije kroz povijest do danas. Napravljena je sistematizirana podjela fantoma prema sustavima na kojima su korišteni za mjerenje točnosti koji su potom međusobno uspoređeni. Na temelju spoznaja dobivenih iz analize postojećih fantoma kao i onih prethodno korištenih u sklopu projekta RONNA (robotska neuronavigacija) razvijen je novi fantom T-fantom (trajectory phantom) za mjerenje točnosti i preciznosti robotskih stereotaktičkih sustava za neurokirurgiju. Navedeni fantom omogućuje istovremeno mjerenje svih dimenzijskih veličina stereotaktičkih i neuronavigacijskih postupaka. Moguće je mjeriti prostorno odstupanje u ulaznoj i ciljnoj točci. Za potrebe mjerenja razvijena je optička mjerna metoda kojom je moguće izmjeriti translacijsko odstupanje u ulaznoj i ciljnoj točci kao i ukupno kutno odstupanje od idealne pravocrtne putanje za svaki od trajektorija na fantomu. Razvijena optička metoda provjerena je na prototipu konstruiranog fantoma. Fantom i mjerna metoda pokazali se se pogodnom za daljnja mjerenja na RONNAi.

Abstract (english)

The use of robotic stereotactic system in the field of medicine is every day more intense. The development of new technologies has enabled the use of robots in stereotactic neurosurgical procedures where the demand for accuracy and precision is under millimeter. For every new system before it can be used it is necessary to measure the accuracy on the phantom which simulates the head of the patient. Phantoms developed for the measurement of the stereotactic procedures must give the exact replica of planed trajectories in stereotactic procedures.

In the context of this paper it’s given in detail the overview of the field of robotized stereotactic neurosurgery throughout history till today. The systemized classification is made of the phantoms according to system they were used on to measure the overall accuracy which are then mutually compared. Based on the facts obtained from research of the current phantoms as well the ones used in the RONNA project (robotic neuronavigation) a new phantom is developed, a T phantom (trajectories phantom) for the measurement of accuracy and precision of robotic stereotactic systems for neurosurgery. The named phantom has the ability to simultaneously measure all of the dimensions of stereotactic and neuronavigational procedures. It is possible to measure spatial deviations in target and entry points. For the purpose of measuring, optic measurement method is developed which has the possibility to measure the translational deviation in target and entry points as well as the overall angular deviations from the ideal straight line for all of trajectories on the phantom developed optic method has been tested on the prototype of the developed phantom. Phantom and the measuring method where found suitable for further measurement on the RONNA system.

• Keywords: stereotaktička; robotika; neurokirurgija; RONNA; fantom; stereovizijski sustav
• Keywords (english): stereotactic; robotics; neurosurgery; RONNA; phantom; stereovision system
• Language: croatian
• URN:NBN: urn:nbn:hr:235:918604
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 17:03:24