Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS

Medical Robots is the field focused on improving and making easier the work of medical personnel in certain interventions with the help of robotic systems. Because of this, although some of them are already in use, there is a large number of R&D projects, especially in soft tissues. In this case...

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Detalles Bibliográficos
Autor: Asensio Baeza, Javier
Tipo de recurso: tesis de maestría
Fecha de publicación:2019
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/166934
Acceso en línea:https://hdl.handle.net/2117/166934
Access Level:acceso abierto
Palabra clave:Robot vision
Robotics
Robotica
Visió artificial (Robòtica)
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spelling Vision based trajectory planning for robotic assisted fetal surgery treatint TTTSAsensio Baeza, JavierRobot visionRoboticsRoboticaVisió artificial (Robòtica)Medical Robots is the field focused on improving and making easier the work of medical personnel in certain interventions with the help of robotic systems. Because of this, although some of them are already in use, there is a large number of R&D projects, especially in soft tissues. In this case, this project deals with the improvement of fetal surgery, more specifically in the treatment of Twin-to-Twin Transfusion Syndrome. TTTS is a syndrome that affects pregnancy in twins. When it occurs, during the development of fetuses, there is an interconnection between the blood vessels of both in points called anastomosis. These connections cause the exchange of blood flow between both fetuses and, if it is not treated by fetal surgery, results in the death of both twins. A teleoperated robotic system is being developed in the ESAII laboratory to provide help and assistance to the surgeon during these surgeries. In this project an automation of the robotic system is implemented. It is done by means of using the work environment information collected and Computer Vision tools. The objective is to create an automatic movement of the robot through the fastest and safest path from one point to other over the placenta´s surface. This report details everything about the project development. It is also described the main topics related to the project as the global robotic system, designed and made in the ESAII laboratory of the UPC; the fetal surgery and the current state of the art around this type of medical robots.Universitat Politècnica de CatalunyaCasals Gelpí, Alicia20192019-07-0420192019-07-26master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfapplication/pdfhttps://hdl.handle.net/2117/166934reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1669342026-05-27T15:37:01Z
dc.title.none.fl_str_mv Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
title Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
spellingShingle Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
Asensio Baeza, Javier
Robot vision
Robotics
Robotica
Visió artificial (Robòtica)
title_short Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
title_full Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
title_fullStr Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
title_full_unstemmed Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
title_sort Vision based trajectory planning for robotic assisted fetal surgery treatint TTTS
dc.creator.none.fl_str_mv Asensio Baeza, Javier
author Asensio Baeza, Javier
author_facet Asensio Baeza, Javier
author_role author
dc.contributor.none.fl_str_mv Casals Gelpí, Alicia
dc.subject.none.fl_str_mv Robot vision
Robotics
Robotica
Visió artificial (Robòtica)
topic Robot vision
Robotics
Robotica
Visió artificial (Robòtica)
description Medical Robots is the field focused on improving and making easier the work of medical personnel in certain interventions with the help of robotic systems. Because of this, although some of them are already in use, there is a large number of R&D projects, especially in soft tissues. In this case, this project deals with the improvement of fetal surgery, more specifically in the treatment of Twin-to-Twin Transfusion Syndrome. TTTS is a syndrome that affects pregnancy in twins. When it occurs, during the development of fetuses, there is an interconnection between the blood vessels of both in points called anastomosis. These connections cause the exchange of blood flow between both fetuses and, if it is not treated by fetal surgery, results in the death of both twins. A teleoperated robotic system is being developed in the ESAII laboratory to provide help and assistance to the surgeon during these surgeries. In this project an automation of the robotic system is implemented. It is done by means of using the work environment information collected and Computer Vision tools. The objective is to create an automatic movement of the robot through the fastest and safest path from one point to other over the placenta´s surface. This report details everything about the project development. It is also described the main topics related to the project as the global robotic system, designed and made in the ESAII laboratory of the UPC; the fetal surgery and the current state of the art around this type of medical robots.
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-07-04
2019
2019-07-26
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/166934
url https://hdl.handle.net/2117/166934
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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