Robotkirurgi, Intervensjonssenteret ved Rikshospitalet, Oslo
MSc Thesis Proposal 1>/h3>Title: Constrained Inverse Kinematics methods for Adapting an Industrial Robot to Medical Practices
Description:
Robotic-assisted surgery has become an emerging field since the last decade and several surgical robots have been developed during this time. Nevertheless, this technology is still in an early stage of development, especially if it is compared to robots developed for industrial applications.
Recently, The Interventional Centre has acquired an industrial robot with the objective of making use of the benefits that the robot offers (programmability, positioning accuracy, reliability, etc.) for the development of new image-guided robotized procedures. However, since the robot is a general purpose manipulator, some specific characteristics of the medical procedures have to be taking into account before using all the potential of the robot.
The purpose of this Master Thesis is the development of the first steps towards the integration of the robot in the surgical domain. This includes the development of algorithms for solving the inverse kinematics of the robot, both considering its whole workspace and the constraints imposed by the surgical practices. Especially important is the integration of the position of the trocar point (i.e. the point where an endoscopic tool enters the body) since it strongly affects all the kinematics of the robot.
MSc Thesis Proposal 2
Title: Motion Planning Algorithms for Trajectory Generation in Surgical Practices
Description:
The development of robotic systems capable to perform surgical tasks autonomously is, nowadays, one of the main challenges in robotic surgery. The medical environment is highly unstructured, restricting the use of autonomous robots to specific tasks within specific procedures. In these situations, teleoperated systems have been introduced in surgical practices, in order to make use of the benefits that a robot offers, but preserving the human capability to react to any unexpected event.
The objective of this Master thesis is to increase the degree of autonomy of the present telesurgical systems, using algorithms for motion planning. This means that the system should be able to compute a set of valid trajectories (if exist) for reaching the desired positions, avoiding collisions with the objects in the environment or forbidden regions previously defined. These trajectories will then be executed by the robot in autonomous or semi-autonomous (i.e. haptic guidance) modes or even they could be executed by the surgeon manually.
Faglig bakgrunn for oppgavene: Programmering
| Type: | 60 ECTS |
| Tilknyttet forskningsgruppe(r): | ROBIN |