University of Twente Student Theses
Enhancing Accuracy in Liver Tumor Ablations: Utilizing Transformation Chain Systems for Accurate Positioning and Orientation of a 6-DOF Robotic Manipulator
Abdelsayed, A.S.A.E. (2023) Enhancing Accuracy in Liver Tumor Ablations: Utilizing Transformation Chain Systems for Accurate Positioning and Orientation of a 6-DOF Robotic Manipulator.
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| Abstract: | This study introduces an innovative method- ology that explicitly exploits chain transformations for reg- istration in a robotic workspace for liver tumor ablation. The research focuses on how chain transformations can be used to accurately calculate the position and orientation of the end-effector concerning the base of a six-degrees- of-freedom (6-DOF) robotic manipulator. The goal is to ensure precise needle alignment concerning tumors for efficient ablation. The study illustrates the feasibility of employing chain transformations and inverse elements by characterizing multiple transformation chains of all the involved systems within the workspace. The study also shows how matrix multiplication and inverse properties are used to calculate undefined variables in the workspace. The obtained transformation matrices are then applied to the robotic manipulator base that achieves optimal needle alignment with the tumor. The findings from this study emphasize the possible application of chain transforma- tions for precision registration in robotic tumor ablation. This method is currently experimental but could serve as a base for robotic tumor ablation. Thus, this research can inform future advancements in precision medicine and robotic interventions, improving treatment outcomes. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 02 science and culture in general |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/96569 |
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