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Medical Robotics
Herman, Michal ; Rujbrová, Šárka (referee) ; Ellederová, Eva (advisor)
Lékařská robotika je oblast robotů používaných v medicíně a jejím hlavním účelem je poskytovat pomoc a rozšiřovat možnosti zdravotnického personálu. Dále se používá pro pomoc a asistenci pacientům a starším osobám, kteří jsou závislí na pomoci druhých. I když je to stále velmi mladý obor, lékařská robotika změnila způsob, jakým je medicína vnímána v posledních několika desetiletích. Díky jeho vysoké přesnosti a schopnosti pomáhat lidem je jeho potenciál obrovský. Specialisté a vývojáři se proto snaží tuto oblast dále rozšiřovat a zlepšovat. Cílem této práce je poskytnout komplexní přehled vývoje robotů používaných v medicíně, uvést konkrétní příklady robotů, které se v této oblasti používají, a vysvětlit, jak jednotliví roboti fungují a jak jsou někteří z nich naprogramováni.
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Validation of human body biological parameters for robotic visual telepresence
Cheparukhina, Anna ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
This work presents a research in the field of robotic visual telepresence. At the beginning explains the principle of teleprezence and it makes classification of robots according to their properties and concepts. Furthermore, there is a review of modern existing robots. The following chapter discusses the human visual system, the basic parameters and functions including parameters of head movements. Subsequently have been selected critical parameters for visual telepresence. At the conclusion of the theoretical part were designed some experiments to validation of human body biological parameters. In the practical part was conducted measuring the extent and speed of head movements, eye distinction depending on the lighting and measurement of visual field man. Also, a series of experiments was performed for practical technical embodiment of the telepresence system rescue robot for class Orpheus.
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Telepresence Autonomous Robot for Exploration of Unapproachable Areas
Krkavec, Martin ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The subject of this master's thesis was to get familiar with a robot developed at the Department of Intelligent Systems of FIT VUT Brno. The goal of this work was to design and then implement hardware and software improvements of the robot so it could be capable of telepresence exploration of a narrow cave using remote control, including autonomous return back to the entrance. Also suggest possible extensions for a further improvement of the robot.
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Advanced Visual Telepresence System
Davídek, Daniel ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The introduction of this document presents some basic principles of visual telepresence with analysis of important aspects of the design. Afterwards there is a brief ovrewview of some of the applications of telepresence systems. Subsequently there is a description of the basic parameters and functions of the human visual perception system including the head motion parameters. This document examines the creation of telepresence apparatus through which is the user able to percieve visual stimuli accross distance. The device consist of camera with wide FOV positioned on the last link of the servo-motor chain with 3 DOF. Camera view is projected into scene in position read from actual motor posture. The scene is perceived through the HMD Oculus Rift (DK1, DK2) where the actual head-orientation read from the HMD inertial sensors is the entered end value for the rotation angles of the servomotors. A \csharp (WPF) program was developed for the controling and setting of motors which handles the byte communication through RS485-USB converter and also configures and starts the telepresence mode. The telepresence scene is drawn with help of SharpDX and SharpOVR - the \csharp wrappers of DirectX and LibOVR.
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Telepresence in Microsoft HoloLens
Šebesta, Ondřej ; Beran, Vítězslav (referee) ; Bambušek, Daniel (advisor)
Digitizing the world allows many people to work comfortably from home. The unfavorable development of the coronavirus epidemic and the associated restrictions caused an increase in the number of people working this way, which has also meant an increased interest in tools enabling remote communication. This work deals with another potential stage of the remote communication - telepresence. The aim of this work is to design and create the telepresence system in augmented reality. The person involved in the remote communication is captured by the Azure Kinect device, which transfers the image data to the computer through a cable. The data is processed, plotted on the computer and transferred into the Microsoft Hololens 2 glasses via the local network using the Holographic Remoting functionality.
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Mobile Robot with Telepresence Control
Svědiroh, Stanislav ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
This thesis deals with the proposal and implementation of a robotic platform for the purpose of visual telepresence. The aim of the work is to create a robotic platform remotely controlled by a virtual reality headset, being capable of moving on a flat surface and rotating the camera plaform in two degrees of freedom independently. This work provides a complete solution - both in terms of software and hardware.
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Telepresence in Microsoft HoloLens
Šebesta, Ondřej ; Beran, Vítězslav (referee) ; Bambušek, Daniel (advisor)
Digitizing the world allows many people to work comfortably from home. The unfavorable development of the coronavirus epidemic and the associated restrictions caused an increase in the number of people working this way, which has also meant an increased interest in tools enabling remote communication. This work deals with another potential stage of the remote communication - telepresence. The aim of this work is to design and create the telepresence system in augmented reality. The person involved in the remote communication is captured by the Azure Kinect device, which transfers the image data to the computer through a cable. The data is processed, plotted on the computer and transferred into the Microsoft Hololens 2 glasses via the local network using the Holographic Remoting functionality.
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Mobile Robot with Telepresence Control
Svědiroh, Stanislav ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
This thesis deals with the proposal and implementation of a robotic platform for the purpose of visual telepresence. The aim of the work is to create a robotic platform remotely controlled by a virtual reality headset, being capable of moving on a flat surface and rotating the camera plaform in two degrees of freedom independently. This work provides a complete solution - both in terms of software and hardware.
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Design And Development Of A Handheld Robot Controller With Telepresence Capabilities
Hýbl, Matouš
This paper describes the design and development of a prototype of a handheld controller that should be used to remotely control a robot during a field/service robotics mission. The controller is equipped with a touch screen display, that shows a video feed from robot’s cameras and its status information, joysticks and buttons for controlling the robot and also an ethernet port for connecting external communication interfaces. Broken out HDMI and USB ports are used to connect an AR (Augumented Reality)/VR(Virtual Reality) headset with a head movement sensor, thus allowing for telepresence in the field . The secondary aim of the paper is to evaluate the Rust programming language in terms of directly interfacing hardware.
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Medical Robotics
Herman, Michal ; Rujbrová, Šárka (referee) ; Ellederová, Eva (advisor)
Lékařská robotika je oblast robotů používaných v medicíně a jejím hlavním účelem je poskytovat pomoc a rozšiřovat možnosti zdravotnického personálu. Dále se používá pro pomoc a asistenci pacientům a starším osobám, kteří jsou závislí na pomoci druhých. I když je to stále velmi mladý obor, lékařská robotika změnila způsob, jakým je medicína vnímána v posledních několika desetiletích. Díky jeho vysoké přesnosti a schopnosti pomáhat lidem je jeho potenciál obrovský. Specialisté a vývojáři se proto snaží tuto oblast dále rozšiřovat a zlepšovat. Cílem této práce je poskytnout komplexní přehled vývoje robotů používaných v medicíně, uvést konkrétní příklady robotů, které se v této oblasti používají, a vysvětlit, jak jednotliví roboti fungují a jak jsou někteří z nich naprogramováni.
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