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master's thesis
Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:015488
Koren, Petar
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Koren, P. (2017). Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:015488

Koren, Petar. "Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:015488

Koren, Petar. "Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:015488

Koren, P. (2017). 'Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:015488

Koren P. Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:235:015488

P. Koren, "Usporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:015488

Metadata
TitleUsporedba primjenjivosti standardnih industrijskih robota u neurokirurgiji
Title (english)Comparison of standard industrial robots for neurosurgery application
AuthorPetar Koren
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-01-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Predmet istraživanja rada je usporedba primjenjivosti tri Kuka Agilus industrijska robota u neurokirurgiji. Zadatak je ispitati mogućnost dohvata svakog od robota, te identificirati optimalno radno područje u kojemu će robot moći zadovoljiti sve operativne zahtjeve u intrakranijalnom prostoru pacijenta. Uvodni dio rada bazira se na kratkom pregledu područja stereotaktičkih okvira i robotskih stereotaktičkih sustava. Kako bi se uočile ključne razlike između Agilus robota dan je uvid u njihove osnovne karakteristike. U svrhu identificiranja optimalnog radnog prostora razvijen je algoritam u Python i OpenRAVE programskim paketima, te je opisan primjerima, slikama i pseudokodovima. Istraživani intrakranijalni prostor pacijenta bazira se na geometrijskom obliku kuglinog isječka kojeg zatvaraju standardni stereotaktički okviri. Eksperimentalni dio rada obuhvaća simulacije različitih ulaznih parametara te prikaz 2D i 3D grafičkih mapa radnog prostora za sve tri robotske konfiguracije.
Abstract (english)
The topic of this thesis is the comparison of the applicability of three Kuka Agilus industrial robots in neurosurgery. The Task was to examine the reach of each of three robots and identify the optimal working area in which robot will meet all operational requirements in the intracranial space of the patient. The introductory part focuses on a short overview of stereotactic frames and robotic stereotactic systems. In order to determine the key differences between Agilus robots, their basic characterictics will be presented. To identify the optimal workspace, an algorythm has been developed in Python and OpenRAVE software packages, and it has been described with examples, pictures and pseudocodes. The studied intercranial area of the patient is based on the geometrical shape of spherical cone closed by standard stereotactic frames. The experimental part covers simulations with different input parameters, as well as 2D and 3D graphic maps of the working area for all three robot configurations.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:015488
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 18:27:29