Tesi di LAUREA SPECIALISTICA
TitoloAsservimento visuale per robot chirurgici miniaturizzati in applicazioni NOTES
Data2009-12-23
Autore/iBianchessi, Andrea
RelatoreCerveri, P.
RelatoreForgione, A.
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AbstractTransluminal surgery, NOTES (natural orifice transluminal endoscopic surgery), is an evolution in minimally invasive treatment of abdominal disease. This technique provides a scarless access to the abdominal cavity through natural orifices such as the vagina or the stomach. Nowadays there are no surgical tools developed for this operating methodology. The aim of this thesis is the study of a prototype of a miniature robotic manipulator to use as ICC (intra corporal carrier) in this type of operation. The manipulator can be coupled with various surgical tools; in this work we use a camera linked with the end effector of robot. This work documents the kinematics and dynamics performance of this robot; the control schemes for a serial manipulator were also detailed for the problem of regulation and tracking in joints space and in Cartesian space. We developed a system of visual control (VS), particulary an image-based visual servoing (IBVS) control structure. In IBVS scheme, the error signal is valuated in the image plane and, through the visual Jacobian, are generated the regulation commands. The performances of the system were tested with the Robotics Toolbox for MATLAB and with the implementation of a vision system based on Visual Servoing Toolbox.