Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji

master's thesis

• Title (english): Comparison of standard industrial robots for neurosurgery application
• Author: Petar Koren
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-01-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Predmet istraživanja rada je usporedba primjenjivosti tri Kuka Agilus industrijska robota u neurokirurgiji. Zadatak je ispitati mogućnost dohvata svakog od robota, te identificirati optimalno radno područje u kojemu će robot moći zadovoljiti sve operativne zahtjeve u intrakranijalnom prostoru pacijenta. Uvodni dio rada bazira se na kratkom pregledu područja stereotaktičkih okvira i robotskih stereotaktičkih sustava. Kako bi se uočile ključne razlike između Agilus robota dan je uvid u njihove osnovne karakteristike. U svrhu identificiranja optimalnog radnog prostora razvijen je algoritam u Python i OpenRAVE programskim paketima, te je opisan primjerima, slikama i pseudokodovima. Istraživani intrakranijalni prostor pacijenta bazira se na geometrijskom obliku kuglinog isječka kojeg zatvaraju standardni stereotaktički okviri. Eksperimentalni dio rada obuhvaća simulacije različitih ulaznih parametara te prikaz 2D i 3D grafičkih mapa radnog prostora za sve tri robotske konfiguracije.

Abstract (english)

The topic of this thesis is the comparison of the applicability of three Kuka Agilus industrial robots in neurosurgery. The Task was to examine the reach of each of three robots and identify the optimal working area in which robot will meet all operational requirements in the intracranial space of the patient. The introductory part focuses on a short overview of stereotactic frames and robotic stereotactic systems. In order to determine the key differences between Agilus robots, their basic characterictics will be presented. To identify the optimal workspace, an algorythm has been developed in Python and OpenRAVE software packages, and it has been described with examples, pictures and pseudocodes. The studied intercranial area of the patient is based on the geometrical shape of spherical cone closed by standard stereotactic frames. The experimental part covers simulations with different input parameters, as well as 2D and 3D graphic maps of the working area for all three robot configurations.

• Keywords: robotika; neurokirurgija; stereotaksija; Kuka Agilus
• Keywords (english): robotics; neurosurgery; stereotactic; Kuka Agilus
• Language: croatian
• URN:NBN: urn:nbn:hr:235:015488
• 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 18:27:29