15-10-2010, 05:00 PM
Prepared by:
Aarthi.AKV
[attachment=6225]
INTRODUCTION:
Robotic Surgery is basically a surgery aided by robots an unmanned and minimal invasive surgery. Here I had taken the application of robotics in performing a brain surgery (COMPUTER-AIDED BRAIN SURGERY). Every Robot has an IQ (Intelligent Quotient) by which it works.
THE WORKING:
The principles and devices used here in implementing come under Image Processing, Analog Digital conversion, Mechanical Interfacing and Integrating and Feedback Signal Processing and Loop Back to Interface. The basic idea behind is primarily to perform a detail mapping of sites of malfunctioned tissue or neurons by assigning a threshold of contrast as well as color differentiation of the sites of brain which are responsible for poor performing perception of outside stimuli, Next is amplification and converting from analog to digital, encoding into machine language i.e. compatible with all the aspects of robot, Next is segmenting the areas of less active neurons for the benefit of easy, accurate accessibility and reach of the robot and for the six degrees freedom of the robot and to perform the surgery sequentially by different mapped areas or phases of direction. The various blood and bio-compatible forceps, screws, knives, needles, tonsils are incorporated for the main purpose. Most important component used is the cryogenic agents are used for preventing bleeding and for clear vision and sharp images for the camera. Suitable anaesthetics find their major role in the process. The whole surgery is performed in a sterilized and environment under immediate attention. To improve the accuracy of the operation GPS is interlaced with the robot. The six degrees of freedom are controlled by six brushless DC servo motors, each coupled with a 500-1000 count multi-channel encoder. The robot can determine its global position from the given feedback information based on segmental pattern. The whole surgery is conducted by a active web camera by a high resolution feed back is fed into the loop for incremental values till the operation is completed to the pre-determined values based on pre-mapping. The risk of error occurance for the robot is minimized by the loop back system incorporated.
Aarthi.AKV
[attachment=6225]
INTRODUCTION:
Robotic Surgery is basically a surgery aided by robots an unmanned and minimal invasive surgery. Here I had taken the application of robotics in performing a brain surgery (COMPUTER-AIDED BRAIN SURGERY). Every Robot has an IQ (Intelligent Quotient) by which it works.
THE WORKING:
The principles and devices used here in implementing come under Image Processing, Analog Digital conversion, Mechanical Interfacing and Integrating and Feedback Signal Processing and Loop Back to Interface. The basic idea behind is primarily to perform a detail mapping of sites of malfunctioned tissue or neurons by assigning a threshold of contrast as well as color differentiation of the sites of brain which are responsible for poor performing perception of outside stimuli, Next is amplification and converting from analog to digital, encoding into machine language i.e. compatible with all the aspects of robot, Next is segmenting the areas of less active neurons for the benefit of easy, accurate accessibility and reach of the robot and for the six degrees freedom of the robot and to perform the surgery sequentially by different mapped areas or phases of direction. The various blood and bio-compatible forceps, screws, knives, needles, tonsils are incorporated for the main purpose. Most important component used is the cryogenic agents are used for preventing bleeding and for clear vision and sharp images for the camera. Suitable anaesthetics find their major role in the process. The whole surgery is performed in a sterilized and environment under immediate attention. To improve the accuracy of the operation GPS is interlaced with the robot. The six degrees of freedom are controlled by six brushless DC servo motors, each coupled with a 500-1000 count multi-channel encoder. The robot can determine its global position from the given feedback information based on segmental pattern. The whole surgery is conducted by a active web camera by a high resolution feed back is fed into the loop for incremental values till the operation is completed to the pre-determined values based on pre-mapping. The risk of error occurance for the robot is minimized by the loop back system incorporated.
