This project involved developing a surgical robot assistant using an articulated robot running on a linear axis. The research concentrated on studying the localization of an endoscopic tool. The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator. Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task. For this system, error was used as the performance metric. Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch. Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.
| Identifer | oai:union.ndltd.org:NCSU/oai:NCSU:etd-05152006-160438 |
| Date | 18 May 2006 |
| Creators | Kracht, Aaron Arthur |
| Contributors | Dr. John Muth, Dr. Ola Harrysson, Dr. Edward Grant |
| Publisher | NCSU |
| Source Sets | North Carolina State University |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf, application/octet-stream |
| Source | http://www.lib.ncsu.edu/theses/available/etd-05152006-160438/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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