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Outline
•Significance
•Quick recap
•Overview of system
•In-depth analysis
•Testing and Validation
•Limitations
•Competitive technology
•Future modifications and goals
•Timeline and budget
Significance
• Why is there a need for this kind of robot?
Machine does the repetitive tasks
Nurse for patient care
Efficiency
Cost• Any similar work?
Penelope - Columbia University
Tumor in forearm
Significance
• Leads to answer another question
Would this be accepted by medical people?
• Successful field study has already been performed
• What is the need for carrying on something that is already done?
Recap – Objectives
Objective1: Develop a robot as an independent assistant
Objective2: Voice integrated system;
delivers and retrieves tools
Objective3: Safe, efficient, accurate & cost-effective
Working
Software
W1: Voice recognition
W2: Evaluation through pc
W3: Respective transmission to microprocessor
W4: Evaluation by microprocessor
W5: Final command to the robot
Hardware
Working and Challenges
• W1: Voice Recognition How is it being done? First thought – Build a voice recognition circuit
Instead - Microsoft speech SDK Cost and effectiveness
Libraries and tools to develop programs in Windows
Working and Challenges
• Problems related to recognizing voice
- Male / Female
- Pronunciation Can be reduced/eliminated by training the system more
- Loudness
microphones designed specifically for voice recognition
- Surrounding noise
Working and Challanges
Voce input taken. What do we do now?• W2: Evaluation through pc
Initial Approach –Have words typed in notepad Text file as input
Difficulty – Unable to find a method to have text file as input in real-time
Visual Basic
• W3: Respective transmission to microprocessor Validation of data being sent at this step
Working and Challanges
• W4&5: Evaluation of code received by microprocessor
Validation: storing the received data in a cleared memory space
Knowing what the expected Hex value to be received is
Comparing the stored values to expected numbers
Final Command sent to the robot’s arm
Microcontroller & Programming
• Freescale microcontroller chip (HCS12 family)
• serial communication interfaces (SCIs) channels (RS232)
• Forth programming languageflexibility and efficiency
• SwiftX is a interactive cross-compiler for embedded microprocessors and microcontrollers.
Working and Challanges
ASCIIVoice Chr Dec
Up 1 49 Down 2 50scissor a 97knife b 98
Pulse-Width Modulator (PWM)
Servo Direction & Operation Angle
: po.s 3500 PWMDTY2 ! 1700 PWMDTY0 !
2400 PWMDTY4 ! WAIT 1000 MS
4450 PWMDTY2 ! M.on
SCI1.Available 1 >= if \ has data in buffer 0 tr.sci1 $65 = if (S1-Key) drop
(S1-Key) CASE
53 OF po.1 ENDOF54 OF po.s ENDOF55 OF po.c ENDOF
ENDCASE
Robotic Arm
• Standard size servo motor– Rotate up to180 degrees– Offer a 417oz./in. (5v) of
torque
• 3 Degree of freedom
Aluminum Tubing
Electromagnet as a Gripper
• Using a LED to indicate the Electromagnet ON/OFF
Holding Value: 2 lbVolts: DC 12 Max.Watts: 1.4Amps: 0.12Net Weight: 2.1 oz.
Testing and Validation
• Rather simple method for testing and validating the system
• Different tools were asked for
• Validated by observing the right action being performed - right tool taken / put back
Current Limitations
• Motors
Torque
Range of motion• Electromagnet
Weight limitation• Voice recognition
surrounding noise• Further testing and analyzing of system
various tools used in surgeries
Limitations and Questions Considered
• Open-loop system!!• No feedback taken from the motors• What if the tool drops because of some reason on its
way?
• What If someone hits the tray carrying tools and they
move from their position?
Limitations and Questions considered
• What if the tool used in a surgery is non-magnetic !#?
• How does the system know what tool is being placed back? Can it recognize it?
Future Goals - Improvements
• Objective1 – A thorough research on what different types
of tools (size, shape, weight) are used in surgeries
• Objective2 – Have continuous feedback to the system
Future Goals - Improvements
• Objective3 – A better gripper
• Objective4 – Integrate with image guided system
• Objective5 – A track of tools
what it started with &
what it is ending with
System Analysis after modifications
• System is getting a feedback letting it know whether tool
is still in gripper
• Be able to grab non-magnetic tools
• Would know what tools are available to it, where each
one is and what tool is being used at a certain time
New Timeline
May – July 2006
• Objective1: Research on different types of tools
• Objective2: continuous feedback to the system
• Objective3: better gripper
August – November 2006
• Objective4: Image guidance
• Objective5: Track of tools