Robot-held camera platform for medical applications
(2018)Department of Automatic Control
- Abstract
- In this thesis a robot-held platform is developed. The final goal of the platform is to follow a potential surgeon’s head during operation while cameras mounted on the platform film the ongoing operation from the perspective of the surgeon. In this thesis the original concept developed by Emma Andersson and Anna Wikström is developed further by extending the design to allow placement of sensors and by implementing the control algorithms necessary for the platform to follow the potential surgeon’s movements. The implementation uses inverse velocity kinematics, PD control and mid-ranging control to achieve a proof of concept. The final implementation is able to follow movements, but some work is still necessary to ensure better following of... (More)
- In this thesis a robot-held platform is developed. The final goal of the platform is to follow a potential surgeon’s head during operation while cameras mounted on the platform film the ongoing operation from the perspective of the surgeon. In this thesis the original concept developed by Emma Andersson and Anna Wikström is developed further by extending the design to allow placement of sensors and by implementing the control algorithms necessary for the platform to follow the potential surgeon’s movements. The implementation uses inverse velocity kinematics, PD control and mid-ranging control to achieve a proof of concept. The final implementation is able to follow movements, but some work is still necessary to ensure better following of orientation and to ensure that the implementation is safe to introduce to a medical environment. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8962998
- author
- Tvede-Möller, Christopher
- supervisor
- organization
- year
- 2018
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6070
- ISSN
- 0280-5316
- language
- English
- id
- 8962998
- date added to LUP
- 2018-11-14 11:31:27
- date last changed
- 2018-11-14 11:31:27
@misc{8962998,
abstract = {{In this thesis a robot-held platform is developed. The final goal of the platform is to follow a potential surgeon’s head during operation while cameras mounted on the platform film the ongoing operation from the perspective of the surgeon. In this thesis the original concept developed by Emma Andersson and Anna Wikström is developed further by extending the design to allow placement of sensors and by implementing the control algorithms necessary for the platform to follow the potential surgeon’s movements. The implementation uses inverse velocity kinematics, PD control and mid-ranging control to achieve a proof of concept. The final implementation is able to follow movements, but some work is still necessary to ensure better following of orientation and to ensure that the implementation is safe to introduce to a medical environment.}},
author = {{Tvede-Möller, Christopher}},
issn = {{0280-5316}},
language = {{eng}},
note = {{Student Paper}},
title = {{Robot-held camera platform for medical applications}},
year = {{2018}},
}