Ph.D. Tezi Görüntüleme

      This thesis explains the design and implementation of a medical robot prototype to align before fixing broken bone parts with external fixators for treatment. The design covers medical standards compliant electronic circuits, reliable embedded software and communication among robot, wired remote control unit and the computer which runs image processing algorithm and solves inverse kinematic problem by Particle Swarm Optimization (PSO) methods. The robot has six degrees of freedom (DOF. Even though the robot can perform automatic alignment, an orthopedist can also control the movements of the robot by push buttons mounted on the wired remote control unit or by a user-friendly interactive GUI to align bones manually. An adapted PSO method solves inverse kinematic problem and suggests orthopedist a planned trajectory for approval. The computer stops corresponding motors even if a single force in any direction exceeds user defined thresholds not to injure patient by mistake because of robot fault or orthopedist malpractice.

      Key Words: Orthopedic reduction robot, Bio-inspired algorithm (PSO), 3D coordinate transformation, Inverse Kinematics, Path planning in Robotics