Pembedahan Robotik Menggunakan Adept Cobra
Nowadays, the growth of technology field causes the other field to take the advantage. In medical field, robot is assign to assist surgeon in surgery. The project is done to measure the ability of industrial robot to perform the surgery task. The scope of the project includes design and build...
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| Main Author: | |
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| Format: | Monograph |
| Language: | English |
| Published: |
Universiti Sains Malaysia
2006
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| Subjects: | |
| Online Access: | http://eprints.usm.my/58753/1/Pembedahan%20Robotik%20Menggunakan%20Adept%20Cobra_Mohd%20Nasir%20Ayob.pdf http://eprints.usm.my/58753/ |
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| Summary: | Nowadays, the growth of technology field causes the other field to take the
advantage. In medical field, robot is assign to assist surgeon in surgery. The project is
done to measure the ability of industrial robot to perform the surgery task. The scope
of the project includes design and build up the gripper, using the real surgery
equipment, prototype skull and write the programming language using Adept V+.
Camera is used as the vision sensor system for the robot. The grabbed image from the
camera is then being process using V+ programming. One of a major disadvantage of
image processing using V+ is the processing time is quite long. So if the camera is set
to monitor the distance between centroid and robot while the robot moves is not
practical. This is because the system is completely controlled by the Adept controller
where the capacity and speed of the processor and RAM are small compared to PC
system. The step being used is to capture the image once each time the centroid is
interested. The image processing is also being simplified and is sufficient to
determine the centroid of the object. Coordinate in image window is converted to
millimeter and base on the robot's coordinate system. The limitation of the camera is
that it is only capturing image in 2 dimensions while the robot workspace is in 3
dimensions. The camera is meant only to measure distance in 2 dimensions which is
X-Y plane. So in z-axis for example, when the robot is moving downward to the
object then the distance between the effector is difficult to be measured. Force sensor
is used to overcome this problem. The sensor is set to trigger when the force reading
exceed the threshold value. Then the robot is set to stop immediately when the robot
touch the skull. The limitation of using Adept Cobra in surgery is the articulation of
the robot which is the arm cannot be moved diagonally to approach the skull. Because
the surface of the skull is not flat then the robot must be able to approach the skull
and moving into the drilled hole in perpendicular direction to skull's surface. |
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