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Robotic Endoscope for Laser Osteotomy
In this project, you will support our interdisciplinary team in stabilizing and controlling the end-effector of a robotic endoscope which is guided by a serial robot.
Keywords: Mechatronics, Surgical Robotics, Robotic Endoscope, Stabilization, Robotics and Control.
Context: The Department of Biomedical Engineering (DBE) has recently been awarded a Flagship project from the Werner Siemens Foundation. This interdisciplinary project called MIRACLE (Minimally
Invasive Robot Assisted Computer-guided LaserosteotomE) is devoted to the development of a minimally invasive robotic endoscope that allows cutting bone with laser light.
Task description: The aim of this thesis is the development of an actuated robotic endoscope with at least two degrees of freedom that allows decoupling its actuation from the end-effector. This device will be a key element in the realization of a new concept for end-effector positioning and stabilization which is based on a bone mounted parallel mechanism.
Context: The Department of Biomedical Engineering (DBE) has recently been awarded a Flagship project from the Werner Siemens Foundation. This interdisciplinary project called MIRACLE (Minimally Invasive Robot Assisted Computer-guided LaserosteotomE) is devoted to the development of a minimally invasive robotic endoscope that allows cutting bone with laser light.
Task description: The aim of this thesis is the development of an actuated robotic endoscope with at least two degrees of freedom that allows decoupling its actuation from the end-effector. This device will be a key element in the realization of a new concept for end-effector positioning and stabilization which is based on a bone mounted parallel mechanism.
Your tasks will be:
1. To design a robotic endoscope with at least two DoF which can be mounted at the flange of the KUKA LBR iiwa
2. Integrate a mechanism with which the actuated DoF can be decoupled such that the end-effector can move freely
3. Build a functional prototype of the device and
4. Test and evaluate the performance of the prototype
Your tasks will be: 1. To design a robotic endoscope with at least two DoF which can be mounted at the flange of the KUKA LBR iiwa 2. Integrate a mechanism with which the actuated DoF can be decoupled such that the end-effector can move freely 3. Build a functional prototype of the device and 4. Test and evaluate the performance of the prototype