Praćenje ljudske anatomije robotom koristeći medicinski stereovizijski sustav

undergraduate thesis

• Title (english): Robot tracking of human anatomy using a medical stereovision system
• Author: Nikola Akrap
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-10, Croatia
• Scientific / art field, discipline and subdiscipline: BIOMEDICINE AND HEALTHCARE; Clinical Medical Sciences; Surgery

Abstract

Cilj ovog rada je integracija kolaborativne robotske ruke UR5e i stereovizijskog optičkog sustava za praćenje Polaris Vega ST u ROS2 operativni sustav, njihovo povezivanje i osposobljavanje za praćenje dijela tijela tijekom izvođenja medicinskog zahvata. Stereovizijski optički sustavi omogućuju kontinuirano praćenje položaja i orijentacije objekata u prostoru koristeći povratne informacije markera od kojih se odbija infracrveno svjetlo iz izvora sa samog stereovizijskog sustava. Istražit će se kako kolaborativna robotska ruka u kombinaciji s jednim takvim sustavom može precizno pratiti anatomske strukture poput cjevanice (lat. tibia) i bedrene kosti (lat. femur) za vrijeme operacije koljena. U slučaju operacije navedenih kostiju, koljenu niti u jednom trenutku nije u potpunosti onemogućeno gibanje te je potrebno kompenzirati sve pomake pa čak i one najmanje nevidljive ljudskom oku. Navedene su glavne karakteristike robotske ruke i stereovizijskog optičkog sustava. U RoboDK okolišu napravljena je simulacija robotske ruke s ciljem testiranja optičkog sustava za praćenje. Napravljen je uvid u način povezivanja robotske ruke, optičkog sustava i računala. Pokazano je eksperimentalno okruženje u kojem se provelo testiranje u Regionalnom centru izvrsnosti za robotske tehnologije. Nadalje, pokazana je integracija sustava u ROS2 i MoveIt2 kao i pregled svih potrebnih paketa za nesmetano izvođenje rada. Predočene su sve skripte i algoritmi koji pogone sustav i omogućeno je pokretanje robota pomoću serva. Pokazane su mogućnosti stereovizijskih sustava za praćenje koji su nova pojava u polju medicinske robotike.

Abstract (english)

The aim of this paper is to integrate of the collaborative robotic arm UR5e and the Polaris Vega ST stereovision optical tracking system into the ROS2 operating system, establish their connection, and prepare them for tracking a body part during a medical procedure. Stereovision optical systems enable continuous tracking of the position and orientation of objects in space by using feedback from markers that reflect infrared light from the stereovision system itself. The study will explore how a collaborative robotic arm, in combination with such a system, can precisely track anatomical structures such as the tibia and femur during knee surgery. During surgery on these bones, the knee is never fully immobilized, so it is necessary to compensate for all movements, even those that are invisible to the human eye. The main characteristics of the robotic arm and the stereovision optical system are described. A simulation of the robotic arm was created in the RoboDK environment to test the optical tracking system. An overview of the connection between the robotic arm, the optical system, and the computer was made. The experimental environment used for testing at the Regional Center of Excellence for Robotic Technologies is presented. Furthermore, the system integration in ROS2 and MoveIt2 is shown, as well as a review of all the necessary packages for smooth operation. All scripts and algorithms that drive the system are presented, enabling the robot to be operated via a servomechanism. The capabilities of stereovision tracking systems, which are still a relatively new development in the field of medical robotics, are demonstrated.

• Keywords: robotika; medicina; stereovizija; ROS2
• Keywords (english): robotics; medicine; stereovision; ROS2
• Language: croatian
• URN:NBN: urn:nbn:hr:235:575019
• Study programme: Title: Mechatronics and Robotics; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-23 10:43:03