Staff View: Pembedahan Robotik Menggunakan Adept Cobra

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...

Full description

Saved in:

Bibliographic Details
Main Author:	Ayob, Mohd Nasir
Format:	Monograph
Language:	English
Published:	Universiti Sains Malaysia 2006
Subjects:	T Technology TK Electrical Engineering. Electronics. Nuclear Engineering
Online Access:	http://eprints.usm.my/58753/1/Pembedahan%20Robotik%20Menggunakan%20Adept%20Cobra_Mohd%20Nasir%20Ayob.pdf http://eprints.usm.my/58753/
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my.usm.eprints.58753
record_format	eprints
spelling	my.usm.eprints.58753 http://eprints.usm.my/58753/ Pembedahan Robotik Menggunakan Adept Cobra Ayob, Mohd Nasir T Technology TK Electrical Engineering. Electronics. Nuclear Engineering 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. Universiti Sains Malaysia 2006-05-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/58753/1/Pembedahan%20Robotik%20Menggunakan%20Adept%20Cobra_Mohd%20Nasir%20Ayob.pdf Ayob, Mohd Nasir (2006) Pembedahan Robotik Menggunakan Adept Cobra. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Elektrik dan Elektronik. (Submitted)
institution	Universiti Sains Malaysia
building	Hamzah Sendut Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Sains Malaysia
content_source	USM Institutional Repository
url_provider	http://eprints.usm.my/
language	English
topic	T Technology TK Electrical Engineering. Electronics. Nuclear Engineering
spellingShingle	T Technology TK Electrical Engineering. Electronics. Nuclear Engineering Ayob, Mohd Nasir Pembedahan Robotik Menggunakan Adept Cobra
description	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.
format	Monograph
author	Ayob, Mohd Nasir
author_facet	Ayob, Mohd Nasir
author_sort	Ayob, Mohd Nasir
title	Pembedahan Robotik Menggunakan Adept Cobra
title_short	Pembedahan Robotik Menggunakan Adept Cobra
title_full	Pembedahan Robotik Menggunakan Adept Cobra
title_fullStr	Pembedahan Robotik Menggunakan Adept Cobra
title_full_unstemmed	Pembedahan Robotik Menggunakan Adept Cobra
title_sort	pembedahan robotik menggunakan adept cobra
publisher	Universiti Sains Malaysia
publishDate	2006
url	http://eprints.usm.my/58753/1/Pembedahan%20Robotik%20Menggunakan%20Adept%20Cobra_Mohd%20Nasir%20Ayob.pdf http://eprints.usm.my/58753/
_version_	1768007926607249408
score	13.211869

Pembedahan Robotik Menggunakan Adept Cobra

Similar Items