Deteksjon og visualisering av robotarmers romlige posisjon

Abstract

The introduction of robotics into surgery, has raised a diversity of new challenges. The scope (camera) inside the patient is only able to give the surgeon a closeup view. This leaves the surgeon with a demand for information about the positioning of the robot. The following report is containing a study into how the surgeon can get useful information about the robots positioning. To visualize the entire robot system for the surgeon, the robots base- and endpositions are measured optically, using an infrared detection system. The robot position data are computed using the Denavit-Hartenberg convention and inverse kinematics. Additionally the distance between the robotarms is calculated, and the program gives the surgeon usefull information if the robotic links get close to a collision. The C++ program written is using the openGL and Open Inventor libraries to visualize the robots. The positioning-data is collected using the OpenTracker library.

Testresults show that the mathematics being used, is wellsuited for reallife-calculations. The visualization of the system, ZEUS Robotic Surgical System, works and operates within an acceptable delay. Uncertainty, especially in connection with detection of position, creates inaccuracies. This has it's largest effect on the warning of collision. Other possible solutions have been discussed.