000058774 001__ 58774
000058774 005__ 20170127103250.0
000058774 037__ $$aTAZ-TFM-2016-148
000058774 041__ $$aeng
000058774 1001_ $$aGacías Lacruz, Raquel
000058774 24200 $$aControl of a force-feedback teleoperated palpation device for minimally invasive thoracic surgery
000058774 24500 $$aControl de un dispositivo teleoperado de palpación para cirujía mínimo-invasiva
000058774 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2016
000058774 500__ $$aTrabajo realizado y defendido durante un Erasmus en la Universidad Libre de Bruselas.
000058774 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/
000058774 520__ $$aThis work involves the developing of a teleoperated force-feedback palpation device in order to extend the possibilities of Minimally Invasive Surgery (MIS) in the thoracic field. Nowadays, detecting lung nodules during MIS has limitations because of the lack of direct contact, so they have to be located via the endoscope and a screen, which allows the surgeon to only detect visible nodules. In order to prevent this, a palpation teleoperation device was designed and built by Angelo Buttafuoco at the SAAS laboratory of ULB. The robot is composed of a master device, manipulated by the surgeon, and a miniaturized slave device which is in contact with the lung and reproduces the task imposed by the master, and its purpose is to provide a haptic feeling to the operator for lung nodule detection during palpation through MIS. This project aims at the implementation of adequate control laws between these two parts to allow restoring the operator's haptic sensation. In other words, permitting the surgeon to feel the lung as if he was actually touching it. The design of the teleoperation control laws is carried out in MATLAB/Simulink and then implemented in the dSpace board via ControlDesk environment, all in communication with the device itself. Performance criteria had to be defined and experiments had to be designed in order to compare several controllers and to choose the most suitable one by testing and validating them first through simulation, and then by implementing them on the existing device. The palpation is performed on a mock-up reproducing a human lung.
000058774 521__ $$aMáster en Ingeniería Industrial
000058774 540__ $$aDerechos regulados por licencia Creative Commons
000058774 700__ $$aKinnaert, Michel$$edir.
000058774 7102_ $$aUniversidad de Zaragoza$$bInformática e Ingeniería de Sistemas$$cIngeniería de Sistemas y Automática
000058774 7202_ $$aCivera Sancho, Javier$$eponente
000058774 8560_ $$f629835@celes.unizar.es
000058774 8564_ $$s2003118$$uhttp://zaguan.unizar.es/record/58774/files/TAZ-TFM-2016-148.pdf$$yMemoria (eng)
000058774 909CO $$ooai:zaguan.unizar.es:58774$$pdriver$$ptrabajos-fin-master
000058774 950__ $$a
000058774 951__ $$adeposita:2017-01-26
000058774 980__ $$aTAZ$$bTFM$$cEINA