Planiranje prostornog razmještaja suradničkih robota i njihova primjena u neurokirurgiji

Vidaković, Josip and Jerbić, Bojan and Švaco, Marko and Šuligoj, Filip and Šekoranja, Bojan (2017) Planiranje prostornog razmještaja suradničkih robota i njihova primjena u neurokirurgiji. = Position planning for collaborating robots and its application in neurosurgery. Tehnički vjesnik – Technical Gazette: Scientific professional Journal of technical faculties of the Josip Juraj Strossmayer University of Osijek., 24 (6). pp. 1705-1711. ISSN 1330-3651. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2017). Točan broj autora: 5.

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Abstract (Croatian)

Primjena robotskih manipulatora u medicini danas je vrlo aktualno područje istraživanja. Unatoč tome još uvijek postoji velik broj problema koji se javljaju kod pripreme većine robotiziranih operacijskih postupaka. Jedan od glavnih je pozicioniranje robota u odnosu na pacijenta. Kod postavljanja robota u odnosu na unaprijed poznate radne točke potrebno je osigurati efikasnu poziciju robota iz koje se sve zadane kretnje mogu izvršiti bez kinematskih problema i kolizija. U radu je predstavljena metoda za planiranje prostornog razmještaja robota prikladna za primjenu u neurokirurgiji. Razvijena metoda počiva na višeciljnoj optimizaciji funkcije cilja koja je sastavljena od kriterija koji objedinjuju prostornu upravljivost robota sa izbjegavanjem kolizija. Primjena razvijene metode validirana je na dvoručnom sustavu robota.

Abstract

Applications of robot manipulators in surgery are nowadays a very actual field of research. Still, there are a number of technical problems when setting and preparing robotical systems for various operation procedures. One of them is the robot-patient placement. When placing robots in respect to known target working positions it is crucial to assure feasible positioning where all required motions can be executed with no kinematic or collision problems. A planning method for robot placement suitable for neurosurgical operations is presented in this paper. The planning method is based on a multi-objective cost function which is composed of criteria that balance dexterity properties with a novel collision avoiding parameter. Use of the planning approach is implemented and validated on a dual arm robot setup.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Uncontrolled Keywords: robot; suradnja; određivanje pozicije; neurokirurgija
Keywords (Croatian): robot; collaboration; position planning; neurosurgery
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Quartiles: Q4 (2017)
Date Deposited: 21 Sep 2018 11:58
Last Modified: 26 Oct 2018 10:43
URI: http://repozitorij.fsb.hr/id/eprint/8800

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