Robotic tool for brain biopsy

U sklopu rada je detaljno predstavljena i razrađena ideja o oblikovanju i razvoju automatiziranog alata za uporabu u području medicinske robotike. Kao početna točka je služila namjena da se, iz dana u dan, sve složeniji i rasprostranjeniji postupak biopsije moždanog tkiva pacijenta, kojeg obavlja kirurg u prisustvu robota, u potpunosti automatizira. Tako su, kroz rad, prvo detaljno prikazane postojeće robotske tehnologije te odgovarajući alati koji su se razvili sa svrhom provođenja automatiziranih neurokirurških zahvata. Potom slijedi inicijalno oblikovanje ideje o biopsijskom alatu te predstavljanje i pregled najvažnijih funkcionalnih značajki koje bi alat trebao ispunjavati. Sažimanje funkcija te potencijalnih mehaničkih i električnih elemenata od kojih bi alat mogao biti sastavljen, naknadno su dovele do oblikovanja prvih koncepata. Iterativni postupak razrade, kao i pojedinačna dorada svakog od idejnih konstrukcijskih rješenja su doveli do postepenog nastanka krajnje verzije alata za automatsku neurokiruršku biopsiju moždanog tkiva. Mehanički model krajnjeg koncepta je potom bio popraćen s detaljnim dekonstruktivnim razlaganjem na pojedine dijelove od kojih je sastavljen. Tako su opisane sve funkcionalne uloge pojedinog dijela te su navedeni i pojašnjeni svi tokovi razmišljanja i zaključivanja koji su doveli do nastanka robotskog alata. U konačnici je pomno prikazana realizacija funkcionalnog robotskog alata te je donesen zaključak na zadanu temu. Kroz zaključak su evaluirana sva postignuća tijekom konceptualne razrade robotskog alata te su predložena potencijalna poboljšanja kako bi se dodatno doprinijelo rastućem trendu automatizacije i skraćenju vremena trajanja operativnog zahvata na području mozga, uporabom robotske tehnologije u području medicine.As part of the paper, the idea of designing and developing an automated tool to be used in the field of medical robotics, was presented in detail. The starting point was the intention to fully automate the increasingly complex and widespread biopsy procedure of the patient's brain tissue, which is performed by a surgeon in the presence of a robot. Thus, through the work, the existing robotic technologies and the appropriate tools that were developed for the purpose of performing automated neurosurgical procedures were first presented in detail. This is followed by the initial design of the biopsy tool idea and the presentation and review of the most important functional features that the robot tool should be able to fulfill. The summarization of the functions and potential mechanical and electrical elements from which the tool could be assembled, subsequently led to the formation of the first concepts. The iterative development process, as well as the individual refinement of each of the conceptual design solutions, led to the gradual creation of the final version of the tool for the automated neurosurgical biopsy of brain tissue. The mechanical model of the final concept was then accompanied by a detailed deconstructive breakdown into the individual parts of which it was composed. Thus, all the functional roles of each part are furthermore described and all the processes of thinking and reasoning, that led to the creation of the robotic tool, are listed and explained. In the end, the implementation and production of a functional robotic tool was carefully presented and a conclusion was reached on the given topic. Through the conclusion, all the achievements during the conceptual development of the robotic tool were evaluated and potential improvements were proposed in order to further contribute to the growing trend of automation and shortening the duration of surgical procedures in the area of the brain, using robotic technology in the field of medicine