title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÐºÐ¾Ð»Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¿ÑÐ¸ ÑÐ¾ÑÐµÑÐ½Ð¾Ð¼ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ð¸ Ð¸ÑÑÐ¾ÑÐ½Ð¸ÐºÐ° ÑÐµÐ½ÑÐ³ÐµÐ½Ð¾Ð²ÑÐºÐ¾Ð³Ð¾ Ð¸Ð·Ð»ÑÑÐµÐ½Ð¸Ñ Ð½Ð° ÑÐ°Ð½ÑÐ¾Ð¼ Ð¼ÑÐ³ÐºÐ¸Ñ ÑÐºÐ°Ð½ÐµÐ¹
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development and research of an algorithm for the movement of a collaborative manipulator under the point effect of an X-ray source on a soft tissue phantom
Creators: name: ÐÐ°Ð³Ð°ÑÑÐºÐ°Ñ, ÐÐ½Ð°ÑÑÐ°ÑÐ¸Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2021
Subjects: ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ
Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÐºÐ¾Ð»Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°
Ð¸Ð½ÑÑÐ°Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð»ÑÑÐµÐ²Ð°Ñ ÑÐµÑÐ°Ð¿Ð¸Ñ
Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð½Ð° ÑÐ·ÑÐºÐµ Ð¡++
ÑÑÐµÐ´Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ ROS
ÑÐ°Ðº Ð»ÑÐ³ÐºÐ¸Ñ
robotic systems
collaborative manipulator motion algorithm
intraoperative radiation therapy
C++ programming
ROS development environment
lung cancer

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÑÑÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÐºÐ¾Ð»Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¿ÑÐ¸ ÑÐ¾ÑÐµÑÐ½Ð¾Ð¼ Ð²Ð¾Ð·Ð´ÐµÐ¸ÌÑÑÐ²Ð¸Ð¸ Ð½Ð° ÑÐ°Ð½ÑÐ¾Ð¼ Ð¼ÑÐ³ÐºÐ¸Ñ ÑÐºÐ°Ð½ÐµÐ¸Ì. Ð¦ÐµÐ»ÑÑ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¼ÐµÐ´Ð¸ÑÐ¸Ð½ÑÐºÐ¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð°ÑÑÐ¸ÑÑÐµÐ½ÑÐ° Ð¿ÑÐ¸ ÑÐ¾ÑÐµÑÐ½Ð¾Ð¼ Ð¾Ð±Ð»ÑÑÐµÐ½Ð¸Ð¸ ÑÐ°Ð½ÑÐ¾Ð¼Ð° Ð¼ÑÐ³ÐºÐ¸Ñ ÑÐºÐ°Ð½ÐµÐ¸Ì. ÐÑÐµÐ´Ð¼ÐµÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ â ÑÐ¾Ð±Ð¾Ñ Â«ÐÐ½ÐºÐ¾Ð Ð¾Ð±Ð¾ÑÂ», ÐºÐ¾ÑÐ¾ÑÑÐ¸Ì Ð¿ÑÐµÐ´Ð½Ð°Ð·Ð½Ð°ÑÐµÐ½ Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð¸Ð½ÑÑÐ°Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¸Ì Ð»ÑÑÐµÐ²Ð¾Ð¸Ì ÑÐµÑÐ°Ð¿Ð¸Ð¸ Ð¾Ð½ÐºÐ¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ¸Ñ Ð·Ð°Ð±Ð¾Ð»ÐµÐ²Ð°Ð½Ð¸Ð¸Ì Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð²Ð¾Ð·Ð´ÐµÐ¸ÌÑÑÐ²Ð¸Ñ Ð¿ÑÑÐºÐ° Ð½Ð¸Ð·ÐºÐ¾ÑÐ½ÐµÑÐ³ÐµÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐµÐ½ÑÐ³ÐµÐ½Ð¾Ð²ÑÐºÐ¾Ð³Ð¾ Ð¸Ð·Ð»ÑÑÐµÐ½Ð¸Ñ Ð½Ð° Ð¾Ð±Ð»Ð°ÑÑÑ Ð¿Ð¾ÑÐ»ÐµÐ¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑÐ´Ð°Ð»ÐµÐ½Ð¸Ñ ÑÐ°ÐºÐ¾Ð²ÑÑ Ð¾Ð¿ÑÑÐ¾Ð»ÐµÐ¸Ì Ð´Ð»Ñ ÑÐ½Ð¸ÑÑÐ¾Ð¶ÐµÐ½Ð¸Ñ Ð¾ÑÑÐ°ÑÐºÐ¾Ð² Ð¾Ð½ÐºÐ¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ¸Ñ ÐºÐ»ÐµÑÐ¾Ðº, ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐ¾ÑÑ ÑÐ¸ÑÑÑÐ³Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÐºÑÐ°Ñ Ð¸ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ ÑÐ°Ð´Ð¸ÐºÐ°Ð»ÑÐ½Ð¾ÑÑÐ¸ Ð¼ÐµÑÐ¾Ð´Ð° Ð»ÐµÑÐµÐ½Ð¸Ñ. Ð ÑÐ°Ð¼ÐºÐ°Ñ Ð´Ð°Ð½Ð½Ð¾Ð¸Ì Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¸Ì ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¸Ì ÑÐ°Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸ÑÑÑ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð°ÑÐµÐ½ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ½ÐºÐ° Ð¸ Ð½Ð°ÑÑÐ½ÑÑ Ð¿ÑÐ±Ð»Ð¸ÐºÐ°ÑÐ¸Ð¸Ì, ÑÐ²ÑÐ·Ð°Ð½Ð½ÑÑ Ñ Ð¼ÐµÐ´Ð¸ÑÐ¸Ð½ÑÐºÐ¸Ð¼Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼Ð¸ Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼Ð¸ ÑÐ¸ÑÑÐµÐ¼Ð°Ð¼Ð¸ Ð¸Ð½ÑÑÐ°Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¸Ì Ð»ÑÑÐµÐ²Ð¾Ð¸Ì ÑÐµÑÐ°Ð¿Ð¸Ð¸, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð±Ð»Ð¾Ðº-ÑÑÐµÐ¼Ñ Ð¿Ð¾ÑÐ»ÐµÐ´Ð¾Ð²Ð°ÑÐµÐ»ÑÐ½Ð¾ÑÑÐ¸ ÑÑÐ°Ð¿Ð¾Ð² Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¸ Ð¸ Ð¿Ð°ÐºÐµÑÐ° ÑÐ¼ÑÐ»ÑÑÐ¸Ð¸ Ð»Ð°Ð·ÐµÑÐ½Ð¾Ð³Ð¾ Ð´Ð°Ð»ÑÐ½Ð¾Ð¼ÐµÑÐ° Ð¸ Ð¼Ð¾Ð´ÑÐ»Ñ Ð´Ð¾Ð·Ð¸Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ°ÑÑÐµÌÑÐ°. Ð¢Ð°ÐºÐ¶Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¸ÑÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ.
description: The object of the study is the algorithms of movement of the collaborative manipulator under the point effect on the soft tissue phantom. The goal is to develop and study an algorithm for the movement of a medical assistant robot during spot irradiation of a soft tissue phantom. The subject of the study is a robotic system "OncoRobot", which is designed to perform intraoperative radiation therapy of oncological diseases by exposing a beam of low-energy X-ray radiation to the area of postoperative removal of cancer tumors to destroy the remnants of cancer cells, improve the cleanliness of the surgical edge and increase the radicality of the treatment method. Within the framework of this qualification work, an analysis of the patent market and scientific publications related to medical automated and robotic systems of intraoperative radiation therapy was made. Moreover, the development of a block diagram of the sequence of stages of the operation and a package of emulation of a laser rangefinder and a dosimetric calculation module is carried out. An experimental study of the system is also given.