Primjenjivost revolutnih robota u operaciji fuzije kralježnice

undergraduate thesis

• Title (english): Application of revolute robots in spinal fusion surgery
• Author: Lovre Listeš
• 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

U radu su ispitane mogućnosti primjene komercijalno dostupnih robota KUKA KR6 R900 Agilus, KUKA KR 10 R1100 Agilus te medicinskih robota KUKA LBR Med 14 R820 i KUKA LBR Med 7 R800, za izvođenje operacije fuzije kralježnice. Uvodni dio opisuje pojmove vezane za operaciju fuzije kralježnice, kao i tijek operacije komercijalnih robotskih sustava za neuronavigaciju. Također je napravljeno 3D simulacijsko okruženje virtualne operacijske sale u RoboDK programu sa svim potrebnim elementima operacijske sale. Za sva četiri robota oblikovani su i validirani alati kirurških instrumenata te je izvršena simulacija cijelog operativnog zahvata za različite prostorne odnose položaja pacijenta i robota.

Abstract (english)

This paper examines the possibilities of using commercially available robots KUKA KR6 R900 Agilus, KUKA KR 10 R1100 Agilus and medical robots KUKA LBR Med 14 R820 and KUKA LBR Med 7 R800, to perform spinal fusion operations. The introductory part describes the terms related to spinal fusion surgery as well as the course of the operation of commercial robotic neuronavigation systems. A 3D simulation environment of virtual operating room in the RoboDK program with all the necessary elements of operating sales was also created. For all four robots, surgical instrument tools were designed and validated and a simulation of the entire operation was performed for different spatial relationships between the patient and the robot.

• Keywords: kralježnica; neuronavigacija; robotika; simulacija; operacija
• Keywords (english): spine; neuronavigation; robotics; simulation; surgery
• Language: croatian
• URN:NBN: urn:nbn:hr:235:078519
• 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 17:02:41