| Robotic research has historical background with valuable effects in the life of human being.Presence of robots can be seen in the industrial sector,domestic as well as in medicines.Since 1985 robots make an impact in neurosurgery,orthopedic surgery emergency response and in various other medical disciplines.The increasing demand to improve patient care by means of different convenient methods are used to enhance the precision and accuracy of the robots.Across time and area of application,trends are discernible that imply future applications of medical robots.From the human and computer interactive perspective,many application of autonomous robot control is developed.Here we use delta robot having three actuators for moving its end effector.In medical domain the higher accuracy and precision is required to use a machine on the patient,so here we use two different interfaces to control one is by the use of camera through which the real-time eye tracking can be achieved,and another is by the use of keyboard to input position of the end-effector of delta robot manually.This manual option will be useful in the result of any fault in camera or because of any else condition,if no automatic eye tracking based position is needed for Delta robot.This thesis demonstrates the development of delta robot by the use of Galil motion controller to be applied in clinical applications of EYE specialists.This work minimizes and reduces the energy and time of the doctor.Using this model the doctor is not required to involve physically with a patient,however,this model has the ability of face detection and the eye detection,not only once but real-time continuous eye tracking of the patient can be achieved in clinical applications of the eye specialist.Apart from this,this thesis contains an extensive real work scenario of evaluation of the algorithm,C++ programs,and the kinematic analysis,justifying the working precision of the visual servo based real time eye tracking by Delta Robot. |
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