Cooperative control of robot and couch using relative jacobian for radiosurgery

Abstract

In this thesis, new radiosurgery system consists of 2DOF new radiosurgery robot and 3DOF couch that is a PRR type. New radiosurgery system has a total of 5DOF that is a small number of degree of freedom. New radiosurgery system treat the tumor that has a small movement relatively in intracranial and spinal region. Radiation beam is delivered from linac that is positioned end-effector of new radiosurgery robot. Radiation beam that is delivered from anywhere is always focused on isocenter. Movement of couch changes the isocenter. It is important to deliver a radiation beam to the tumor in a body correctly as planned orientation and position. To perform it successfully, cooperative control of new radiosurgery robot and couch is needed. In this thesis, two methods are suggested to control new radiosurgery robot and couch. One method is individual control of new radiosurgery robot and couch. The other method is cooperative control of new radiosurgery and couch using relative jacobian. Through comparison between two methods, It is proven that cooperative control using relative jacobian is more useful method in this thesis. First of all, trajectory generation methods for desired trajectory of new radiosurgery robot and couch are compared. Through it, we can know that cooperative control has a simpler procedure and is more intuitive. If cooperative control using relative jacobian is applied to new radiosurgery system, we can show that radiation beam can be delivered within a certain time as planned orientation and position correctly through simulation result. It is more useful method in terms of delayed radiosurgery time caused by movement of robot. ⓒ 2016 DGIST