University of Twente Student Theses
Bilateral Control Scheme for Surgical Robotic System Collaboration
Ward, G.Y. (2024) Bilateral Control Scheme for Surgical Robotic System Collaboration.
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| Abstract: | Robotics holds an ever-growing place within surgery. This paper presents methods introducing a new way of coordinating multiple medical devices during an aortic catheter insertion. This, ultimately, allows for complete automation of the process. We establish the motivation behind the proposed system; hazards faced through fluoroscopy (the imaging technique required in the procedure) are discussed. Furthermore, reasoning as to why collaboration of these systems is beneficial is presented. High level, kinematic modelling of each system’s robotic manipulators allows for catheter control (through joint angle input provided by the operator) and automatic positioning of a C-Arm fluoroscope within the catheter’s bending plane. A mathematical model of the fluoroscope’s projection creates an artificial image of the catheter and aorta’s interior. This completes the system model. Image processing allows for an angle estimation method. Thus, completing the required inputs for the bilateral control scheme. The complete bilateral control method allows for fully automated positioning of the C-Arm fluoroscope. To validate the presented methods, a simulated test bench environment was created. This motivates the feasibility of such a system. Considerations when developing a realistic application, control optimisations and limitations of the proposed system are also included in the concluding section of this paper. The appendices contain in-depth derivations of models and methods used to develop this bilateral control scheme. The concept this paper proves can be applied to many use cases. It opens a new door in medical and collaborative robotics. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 44 medicine, 53 electrotechnology |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/101406 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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