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Development of Interactive Simulator for Telepresence Robot in Surgical Applications

Haas, Christoph (2010) In MSc Theses
Department of Automatic Control
Abstract
The purpose of this Diploma thesis is to develop and implement an interactive simulator for a surgical robot in a Telepresence application. The focus is on an incision procedure of a scalpel during an operation. The geometric deformation of the simulation is based on a Finite Element Method (FEM) model which has to cope with discontinuity due to the incision through the body. The FEM modelling can be done using e.g. FEM with remeshing method or XFEM which treats the cut in the body as a type of material discontinuity. A detailed analyse of the eXtended Finite Element Method (XFEM) and a comparison to the FEM with remeshing is made. For the implementation of simulation, a FEM remeshing method is used. A scalpel mounted to the end effector... (More)
The purpose of this Diploma thesis is to develop and implement an interactive simulator for a surgical robot in a Telepresence application. The focus is on an incision procedure of a scalpel during an operation. The geometric deformation of the simulation is based on a Finite Element Method (FEM) model which has to cope with discontinuity due to the incision through the body. The FEM modelling can be done using e.g. FEM with remeshing method or XFEM which treats the cut in the body as a type of material discontinuity. A detailed analyse of the eXtended Finite Element Method (XFEM) and a comparison to the FEM with remeshing is made. For the implementation of simulation, a FEM remeshing method is used. A scalpel mounted to the end effector of a robot is controlled by a Haptic device and cuts through a silicone block. The deformation of the real test object are measured by a 2D scanning device and compared to the results of the simulation. The deviation of the reality and simulation were less than 1% based on the dimension of the body. (Less)
Please use this url to cite or link to this publication:
author
Haas, Christoph
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5866
ISSN
0280-5316
language
English
id
8847487
date added to LUP
2016-03-16 12:38:30
date last changed
2016-03-16 12:38:30
@misc{8847487,
  abstract     = {The purpose of this Diploma thesis is to develop and implement an interactive simulator for a surgical robot in a Telepresence application. The focus is on an incision procedure of a scalpel during an operation. The geometric deformation of the simulation is based on a Finite Element Method (FEM) model which has to cope with discontinuity due to the incision through the body. The FEM modelling can be done using e.g. FEM with remeshing method or XFEM which treats the cut in the body as a type of material discontinuity. A detailed analyse of the eXtended Finite Element Method (XFEM) and a comparison to the FEM with remeshing is made. For the implementation of simulation, a FEM remeshing method is used. A scalpel mounted to the end effector of a robot is controlled by a Haptic device and cuts through a silicone block. The deformation of the real test object are measured by a 2D scanning device and compared to the results of the simulation. The deviation of the reality and simulation were less than 1% based on the dimension of the body.},
  author       = {Haas, Christoph},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Development of Interactive Simulator for Telepresence Robot in Surgical Applications},
  year         = {2010},
}