Robotski alat za biopsiju mozga

master's thesis

• Title (english): Robotic tool for brain biopsy
• Author: Nikola Stenić
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-12-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U sklopu rada je detaljno predstavljena i razrađena ideja o oblikovanju i razvoju
automatiziranog alata za uporabu u području medicinske robotike. Kao početna točka je služila
namjena da se, iz dana u dan, sve složeniji i rasprostranjeniji postupak biopsije moždanog tkiva
pacijenta, kojeg obavlja kirurg u prisustvu robota, u potpunosti automatizira. Tako su, kroz rad,
prvo detaljno prikazane postojeće robotske tehnologije te odgovarajući alati koji su se razvili
sa svrhom provođenja automatiziranih neurokirurških zahvata. Potom slijedi inicijalno
oblikovanje ideje o biopsijskom alatu te predstavljanje i pregled najvažnijih funkcionalnih
značajki koje bi alat trebao ispunjavati. Sažimanje funkcija te potencijalnih mehaničkih i
električnih elemenata od kojih bi alat mogao biti sastavljen, naknadno su dovele do oblikovanja
prvih koncepata. Iterativni postupak razrade, kao i pojedinačna dorada svakog od idejnih
konstrukcijskih rješenja su doveli do postepenog nastanka krajnje verzije alata za automatsku
neurokiruršku biopsiju moždanog tkiva. Mehanički model krajnjeg koncepta je potom bio
popraćen s detaljnim dekonstruktivnim razlaganjem na pojedine dijelove od kojih je sastavljen.
Tako su opisane sve funkcionalne uloge pojedinog dijela te su navedeni i pojašnjeni svi tokovi
razmišljanja i zaključivanja koji su doveli do nastanka robotskog alata. U konačnici je pomno
prikazana realizacija funkcionalnog robotskog alata te je donesen zaključak na zadanu temu.
Kroz zaključak su evaluirana sva postignuća tijekom konceptualne razrade robotskog alata te
su predložena potencijalna poboljšanja kako bi se dodatno doprinijelo rastućem trendu
automatizacije i skraćenju vremena trajanja operativnog zahvata na području mozga, uporabom
robotske tehnologije u području medicine.

Abstract (english)

As part of the paper, the idea of designing and developing an automated tool to be used in the
field of medical robotics, was presented in detail. The starting point was the intention to fully
automate the increasingly complex and widespread biopsy procedure of the patient's brain
tissue, which is performed by a surgeon in the presence of a robot. Thus, through the work, the
existing robotic technologies and the appropriate tools that were developed for the purpose of
performing automated neurosurgical procedures were first presented in detail. This is followed
by the initial design of the biopsy tool idea and the presentation and review of the most
important functional features that the robot tool should be able to fulfill. The summarization of
the functions and potential mechanical and electrical elements from which the tool could be
assembled, subsequently led to the formation of the first concepts. The iterative development
process, as well as the individual refinement of each of the conceptual design solutions, led to
the gradual creation of the final version of the tool for the automated neurosurgical biopsy of
brain tissue. The mechanical model of the final concept was then accompanied by a detailed
deconstructive breakdown into the individual parts of which it was composed. Thus, all the
functional roles of each part are furthermore described and all the processes of thinking and
reasoning, that led to the creation of the robotic tool, are listed and explained. In the end, the
implementation and production of a functional robotic tool was carefully presented and a
conclusion was reached on the given topic. Through the conclusion, all the achievements during
the conceptual development of the robotic tool were evaluated and potential improvements were
proposed in order to further contribute to the growing trend of automation and shortening the
duration of surgical procedures in the area of the brain, using robotic technology in the field of
medicine.

• Keywords: robotski alat; stereotaktička biopsija; mozak; neurokirurgija
• Keywords (english): robotic tool; stereotactic biopsy; brain; neurosurgery
• Language: croatian
• URN:NBN: urn:nbn:hr:235:938132
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Autonomous Systems; 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: 2022-12-06 12:04:26