Razvoj koncepta robotskog alata za robotsku biopsiju tumora mozga

master's thesis

• Title (english): Development of the concept of a robotic tool for brain tumor biopsy
• Author: Domagoj Uremović
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-12-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu predstavljen je pregled primjene robota u medicini te specifično u neurokirurgiji. Prikazan je RONNA sustav, razvijan na Fakultetu strojarstva i brodogradnje u suradnji s Kliničkom bolnicom Dubrava u Zagrebu, za koji se razvija koncept robotskog alata za robotsku biopsiju tumora mozga.
Nakon analize funkcionalnosti željenog robotskog alata, kroz rad je prikazan iterativni razvoj pojedinih dijelova koji zasebno ili u kombinaciji pomažu u ispunjavanju pojedinih funkcija. Konstrukcijska rješenja specifičnih zadaća, koje za zadovoljenje funkcija moraju biti ispunjene, razvijale su se slijedno pazeći na valjani međuodnos dijelova. Svako konstrukcijsko rješenje prikazano je kroz faze kojima su se nadogradnjom kroz četiri ciklusa zadovoljile sve funkcionalnosti.
Na kraju su prikazane varijante koncepta robotskog alata kroz iste cikluse u kojima su se razvijali i elementi cijelog sustava. Zadnja prikazana varijanta rezultat je konstrukcijskog razvoja i dobivena rješenja, zajedno sa standardnim i postojećim elementima sa tržišta, ispunjavaju sve funkcionalnosti robotskog alata za robotsku biopsiju tumora mozga. Uz konstrukcijski funkcionalno rješenje prikazan je i kritički osvrt s tolerancijskom analizom konstrukcije.

Abstract (english)

This paper presents an overview of the use of robots in medicine and specifically in neurosurgery. The RONNA system, which has been developed at the Faculty of Mechanical Engineering and Naval Architecture in collaboration with the University Hospital Dubrava in Zagreb, is presented, for which the concept of a robotic tool for brain tumor biopsy is being developed.
After analyzing the functionality of the desired robotic tool, an iterative development of an individual parts is shown through the paper, which, individually or in combination, helps to fulfill certain functions. Given design solutions of specific problems, which must be fulfilled in order to maintain their functions, have been developed sequentially, with the valid interrelationship of parts. Each design solution is presented through phases that have been upgraded through four cycles to satisfy all functionalities.
Finally, variants of the concept of a robotic tool are presented through the same cycles in which elements of the entire system were developed. The last variant shown is the result of design development and the solutions obtained, along with standard and existing industry elements, fulfill all the functionalities of a robotic brain tumor biopsy tool. In addition to the fully functional design, a critical review with tolerance analysis is presented.

• Keywords: robotski alat; razvojni koncept; neurokirurgija; biopsijska sonda; RONNA
• Keywords (english): robotic tool; concept development; neurosurgery; bioptic probe; RONNA
• Language: croatian
• URN:NBN: urn:nbn:hr:235:576093
• 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; Embargo expiration date: 2021-11-28
• Created on: 2019-11-28 09:49:56