This project combines 3D image processing with precision robotics to enhance the usability and safety of medical laser systems.
A key aspect of the project was the development of real-time control for the robot, enabling it to adjust its movement dynamically based on the live motion of the subject. Utilizing the ROS (Robot Operating System) framework, we unified interfaces and data structures while implementing various motion controllers to achieve constant velocity of the laser on the subject regardless of its motion.
Another critical component was integrating a 3D time-of-flight camera for continuous patient position tracking. This system ensures the robot maintains the correct velocity and position relative to the patient’s movements in real time, enhancing both accuracy and safety.
The system first creates a 3D model of the subject registering multiple images. Using the 3D model it then calculates the optimal path for the laser.
For the user interface, we developed a Qt-based application designed to run on a touch display. The interface includes our own 3D visualization engine tailored to the specific requirements of this project.
This project demonstrates our expertise in combining robotics, real-time control, and advanced 3D graphics for use in certified medical devices.
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