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المسار الامثل للجراحة الروبوتية الطبية باستخدام الخوارزمية الجينية == Path Optimization For Medical Surgery Robotic Using Genetic Algorithm
Author name:
زهراء داود حسين
Supervisor name:
مهند زيدان خليفة | ايمان صالح كريم
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electromechanical engineering
Degree:
Master
University:
University of Technology - Department Of Electromechanical Engineering
Language:
English
University location:
Baghdad
First pages:
34T469 - p.pdf
Abstract:
تناولت هذه الرسالة دراسة تصميم امثل لموديل مختار للانسان الالي المستخدم في مجال الجراحة البشرية (جهاز التنظير البطني الجراحي ) المستخدم في مستشفى الصدر التعليمي في محافظة ميسان والمصنع من قبل شركة (KARL STORZ) من خلال زيادة عدد درجات الحرية لتصل سبعة درج | This thesis presents a study for optimal design of a robot to be used in human surgery (Laparoscope device). It was done in Al - Sader educational hospital in Maysan Governorate. The robot was manufactured by Karl Storz company. Connecting linkages were increased to get seven degrees of freedom. It is operated by the surgeon hand (complete rotation 360o , rotation in two opposite directions perpendicular to each other ,transformation along the major axes , triple joint (pitch ,roll, and yaw). Optimization has been done to these models after making analysis to the surgical robot (forward kinematic, inverse kinematic, dynamitic analysis). The optimal design was obtained by using genetic algorithm method to choose the optimal path planning in the working area. This was with the presence of obstacles to tip of end - effector motion that exists, in mechanical arm to the new model that used in this thesis. This was done by making an integrated computer program through MATLAB (R2013a). The results of best path planning would shorten length without hitting any obstacle, assuming the surrounding environment will be variable. The position and obstacle shapes would be random. We found that the best path planning in every environment depends on maximize objective function that presented by shortest length of the path. This is important from the medical point of view. This was applied successfully in practice on an industrial robot and the resulted optimal parameters to that robot with matching of the theoretical side with practical side in robot motion. The practical side was made in laboratory of the Research Unit of Automation and Robotics in the Control and Systems Engineering Department, University of Technology. The robot used was the Lab - Volt Servo Robot System Model 5250 (RoboCIM5250). This thesis includes studying the tools used in laparoscope and focuses on recent types of graspers with parallel jaws connected to the chosen design. It was noticed that the maximum entrance force for the abdominal tracar must not exceed 5N. The force on the last point of jaws is 0.42N. It was found that this force will not cause bleeding in the tissue during procedure. And that this type of small size grasper can be bent during operation in the allowed field of workspace while maintaining good strength.
