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Advisor(s)
Abstract(s)
Existem diferentes tipos de doenças que necessitam de tratamentos que envolvem radiação ionizante. O caso do cancro da tiroide é um destes exemplos, onde em alguns casos é necessário recorrer a um tratamento com iodo (131I), o qual vai atacar as células cancerígenas.
Este tratamento, envolvendo radiação ionizante, provoca uma constante exposição a este tipo de radiação, a qual pode causar efeitos nefastos para os profissionais de saúde, que lidam com elementos radioativos.
Desta forma, é necessário criar alternativas que previnem a exposição destes profissionais à radiação, minimizando os seus efeitos.
Este trabalho tem como objetivo desenvolver, através de simulação, um robô omnidirecional que se deslocará no ambiente de terapia de iodo para tratamentos de problemas na glândula tiroide, sem a necessidade de presença humana.
O modelo do sistema robótico foi desenvolvido no Simtwo, no qual é possível criar um cenário semelhante ao que existe no ambiente de ambulatório, assim como um código com o qual é controlado o robô. A programação do robô omnidirecional envolve a implementação dos modelos cinemático e dinâmico, assim como a manipulação das variáveis que definem as trajetórias a executar.
There are different types of diseases that require the use of radiation for the treatments. Thyroid cancer is one of these examples, where in some cases it is necessary to use iodine (131I), which will attack cancer cells. This treatment involves the use of ionizing radiation, which can bring benefits for patients but can also cause side effects for health professionals. This happens because of the constant exposure to radiation. Because of this it is necessary to create alternatives to prevent the constant exposure of these professionals. The objective of this work is to develop a prototype, based on simulation, where an omnidirectional robot can move without the interference of anyone to measure the remaining radiation in a room. This robotic system was developed in a simulator called Simtwo, in which we can create a scenario similar to the clinical environment, as well as the code that allow as to control the robot. The creation of this omnidirectional robot involves the implementation of kinematics and dynamic models and the manipulation of different variables that define running paths.
There are different types of diseases that require the use of radiation for the treatments. Thyroid cancer is one of these examples, where in some cases it is necessary to use iodine (131I), which will attack cancer cells. This treatment involves the use of ionizing radiation, which can bring benefits for patients but can also cause side effects for health professionals. This happens because of the constant exposure to radiation. Because of this it is necessary to create alternatives to prevent the constant exposure of these professionals. The objective of this work is to develop a prototype, based on simulation, where an omnidirectional robot can move without the interference of anyone to measure the remaining radiation in a room. This robotic system was developed in a simulator called Simtwo, in which we can create a scenario similar to the clinical environment, as well as the code that allow as to control the robot. The creation of this omnidirectional robot involves the implementation of kinematics and dynamic models and the manipulation of different variables that define running paths.