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Design and Implementation of a Master Robot for a Fracture Reduction Robotic Telesurgery System

Nazari, Kianoosh | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49495 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while having new challenges. The robotic system used in the study by providing more precise motion and exerting higher amount of forces makes the operation procedure more straightforward. In a normal operation 300-400 N of extension force would be needed which is fully provided by the surgen which leads to physical his/her (khastegi), by using the robotic system however, this force is simply provided without any need to surgon’s muscle power. The Teleoperation robotic system being used here includes a 5 degree of freedom haptic interface which in constructed by using two Novint Falcon robots and a parallel orthopedic robot as the slave robot. Novint Falcon is a commercial gaming console which can be baught by such low price. The main goal of this project is to build and implement the aforementioned 5 DOF robot by two single Novint Falcons and by creating an efficient communication channel between master and slave robots complete the teleoperation robotic system. At the first step the implemented control is open loop and at further studies a neural network based adaptive controller has been designed to enhance system’s operation. A servo visual feedback is provided by the Micron tracker camera to provide position feedback for the control algorithm
  9. Keywords:
  10. Remote Control ; Falcon Robot ; Haptic System ; Transparency ; Telerobotics ; Angularity ; Robotic Telesurgery ; Impedance System

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