Primjenjivost revolutnih robota u postupku radiofrekventne termokoagulacije neuralgije trigeminusa

undergraduate thesis

• Title (english): Application of revolute robots in the radiofrequency thermocoagulation procedure of trigeminal neuralgia
• Author: Marko Marijić
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Unutar ovog rada ispituju se mogućnosti primjene dva KUKA Agilus industrijska robota i dva medicinska KUKA LBR Med robota pri operaciji radioferkventne termokoagulacije trigeminalnog ganglija. Zadatak je usporediti mogućnosti svakog robota te odrediti njegovo optimalno radno područje unutar operacijske sale iz kojeg će moći nesmetano obaviti navedeni operativni postupak. Uvodni dio opisuje trigeminalni ganglij, pojavu neuralgije i tijek liječenja, a slijedi opis operativnog postupka s kratkim pregledom područja. Predstavljaju se korišteni roboti i utvrđuju razlike između njih. U svrhu simulacije koristio se program RoboDK unutar kojeg se modelirala virtualna operacijska sala koja dimenzijama odgovara stvarnoj. Simulacija je provedena s više vrsta alata, a rješenja su prikazana u obliku 2D grafičkih mapa radnog prostora za svakog robota pojedinačno.

Abstract (english)

Within this work, the possibilities of application of two KUKA Agilus industrial robots and two medical KUKA LBR Med robots in the operation of radiofrequency thermocoagulation of the trigeminal ganglion are tested. The task is to compare the capabilities of each robot and to determine its optimal working area within the operating room from which it will be able to perform the specified operational procedure without interference. The introductory part describes the trigeminal ganglion, the occurrence of neuralgia and the course of treatment, followed by a description of the surgical procedure with a brief overview of medical accomplishments. The robots used in the simulation are introduced and the differences between them are determined. RoboDK is used for the simulation of robot movements within a virtual operating room that is modeled corresponding to the actual dimensions. The simulation is performed with several types of tools, and the solutions are presented in the form of 2D graphical workspace maps for each robot.

• Keywords: RFT; robotika; neuralgija trigeminusa; KUKA Agilus; KUKA LBR Med
• Keywords (english): RFT; robotics; trigeminal neuralgia; KUKA Agilus; KUKA LBR Med
• Language: croatian
• URN:NBN: urn:nbn:hr:235:557283
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-02-19 17:02:33