| ProjectForm | |
|---|---|
| Title: | Contactless control of a minimal invasive surgical robot system |
| Abstract: | Minimally invasive surgery is a special technique of surgery, in which robot systems can be used for assistance. As an example, the robot arms can be controlled via special input devices that are situated at a remote console. In this case, the surgeon is seated at the console and commands the desired poses to the robot system. Thus the robot arms accomplish the movements that are given by the surgeon. Such a robot system is developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. Two different user interfaces are intended for this system. One solution is to use haptic input devices with force feedback to control the robot arms and to give feedback about occurring forces. The other solution doesn’t use haptic input devices and is therefore called contact less. In this case, occurring forces are visualized in the endoscopic video by using Augmented Reality techniques. Goal of this diploma thesis is to implement the control of the contact less user interface. Usual surgical grippers are used as input devices. The grippers are equipped with passive marker spheres of an optical tracking system to make the detection of the instrument’s movements possible. Pose and angle of the grippers are computed out of the tracking data. After some processing, the data is committed to the robot system. |
| Student: | Miriam Wiegand |
| Director: | Gudrun Klinker |
| Supervisor: | Andreas Tobergte, Tobias Ortmaier |
| Type: | Diploma Thesis |
| Area: | Industrial Augmented Reality |
| Status: | finished |
| Start: | 2007/05/15 |
| Finish: | 2007/11/15 |